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    Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

    Source: Journal of Mechanisms and Robotics:;2024:;volume( 017 ):;issue: 005::page 51001-1
    Author:
    Sitler, Justin
    ,
    Wang, Long
    DOI: 10.1115/1.4066554
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This article provides the mechanical, electrical, and software design of a novel UVMS equipped with a continuum manipulator, referred to as a continuum-UVMS. A kinematic model for the continuum-UVMS is derived in order to build an algorithm to resolve the robot’s redundancy and generate joint space commands. Different methods to optimize the trajectory for specific tasks are proposed using both the weighted least norm solution and the gradient projection method. Kinematic simulation results are analyzed to assess the performance of the proposed algorithm. Finally, the continuum-UVMS is deployed in an experimental demonstration in which both teleoperation and autonomous control are tested for a given reference trajectory.
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      Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4306405
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    contributor authorSitler, Justin
    contributor authorWang, Long
    date accessioned2025-04-21T10:32:29Z
    date available2025-04-21T10:32:29Z
    date copyright11/1/2024 12:00:00 AM
    date issued2024
    identifier issn1942-4302
    identifier otherjmr_17_5_051001.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4306405
    description abstractUnderwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This article provides the mechanical, electrical, and software design of a novel UVMS equipped with a continuum manipulator, referred to as a continuum-UVMS. A kinematic model for the continuum-UVMS is derived in order to build an algorithm to resolve the robot’s redundancy and generate joint space commands. Different methods to optimize the trajectory for specific tasks are proposed using both the weighted least norm solution and the gradient projection method. Kinematic simulation results are analyzed to assess the performance of the proposed algorithm. Finally, the continuum-UVMS is deployed in an experimental demonstration in which both teleoperation and autonomous control are tested for a given reference trajectory.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleDesign, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System
    typeJournal Paper
    journal volume17
    journal issue5
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4066554
    journal fristpage51001-1
    journal lastpage51001-11
    page11
    treeJournal of Mechanisms and Robotics:;2024:;volume( 017 ):;issue: 005
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian