Coordinated motion control of Underwater Vehicle-Manipulator System with minimizing restoring moments

In this paper, coordinated motion control of underwater vehicle-manipulator system (UVMS) is addressed. In order for UVMS to carry out manipulation tasks alone, motion planning with consideration of redundancy and tracking control under disturbances are required. We propose redundancy resolution wit...

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Bibliographische Detailangaben

Hauptverfasser:	Jonghui Han, Wan Kyun Chung
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Computational modeling Force Manipulators Mathematical model Redundancy Trajectory Vehicles
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