Coordinated Motion Planning Based on Virtual Workspace Constraints for AUVMS

Yu, Fujie; Yuan, Chen

doi:10.3901/jme.2020.12.249

Cited by 3 publications

(1 citation statement)

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“…However, the redundancy characteristics of the system can be explored reasonably to perform multiple tasks simultaneously and ensure that each task is eventually completed. Therefore, it is necessary to coordinate the motions of the body and the manipulator when meeting the operational task requirements (Fujie et al, 2020 ). The most commonly used methods for motion planning are the minimum parametric solution method, the weighted pseudo-inverse method, the gradient projection method, and the task prioritization method to achieve UVMS motion planning (Whitney, 1969 ).…”

Section: Introductionmentioning

confidence: 99%

UVMS task-priority planning framework for underwater task goal classification optimization

Gao

Zhang²,

Yan³

et al. 2022

Front. Neurorobot.

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This paper presents a task prioritization strategy based on a generic underwater task goal classification transformation for multitasking underwater operational tasks: attitude control, floating manipulation, collision-free motion, especially optimizing trajectory of the end-effector of an underwater vehicle manipulator system (UVMS) in a complex marine environment. The design framework aims to divide the complex underwater operational tasks into UVMS executable generic task combinations and optimize the resource consumption during the whole task. In order to achieve the corresponding underwater task settings, the system needs to satisfy different task scheduling structures. We consider the actual application scenarios of the operational goals and prioritize and define each category of task hierarchy accordingly. Multiple tasks simultaneously enable fast adaptation to UVMS movements and planning to complete UVMS autonomous movements. Finally, an underwater vehicle manipulator system implements the task prioritization planning framework for a practical scenario with different constraints on different goals. We quickly and precisely realize the interconversion of different tasks under goal constraints. The autonomous motion planning and real-time performance of UVMS are improved to cope with the increasing operational task requirements and the complex and changing practical engineering application environments.

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Section: Introductionmentioning

confidence: 99%

UVMS task-priority planning framework for underwater task goal classification optimization

Gao

Zhang²,

Yan³

et al. 2022

Front. Neurorobot.

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Research on Human–robot Physical Interaction Control Based on Adaptive Impedance Control

Sun

Guo

Zhang

et al. 2023

J. Mech. Med. Biol.

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An adaptive impedance control method based on dexterity for compliant interaction is proposed for the problem of compliance and motion performance of the human’s healthy side interacting with the manipulator in bilateral mirror rehabilitation motion-assisted training, and constructs a local virtual force field to hinder the movement of the manipulator to the low motion performance region, thus improving the motion performance of the manipulator. Firstly, the dynamic model of the manipulator and the human–robot interaction model based on impedance control are established. Then, a dexterity index based on the condition number is established, and an adaptive impedance control method based on the dexterity is proposed to construct a local virtual force field to hinder the movement of the manipulator to the low motion performance region. Finally, the effectiveness of the proposed method is demonstrated by experiments. The results have shown that the adaptive impedance control method based on dexterity can construct a local virtual force field, which can constrain the motion of the manipulator and keep the robot with good motion performance. It also laid the foundation for the training strategy of bilateral mirror rehabilitation.

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Research Progress of Underwater Vehicle-manipulator Systems: Configuration, Modeling and Control

常宗瑜¹,

张扬²,

郑方圆³

et al. 2020

Journal of Mechanical Engineering

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Coordinated Motion Planning Based on Virtual Workspace Constraints for AUVMS

Cited by 3 publications

References 0 publications

UVMS task-priority planning framework for underwater task goal classification optimization

UVMS task-priority planning framework for underwater task goal classification optimization

Research on Human–robot Physical Interaction Control Based on Adaptive Impedance Control

Research Progress of Underwater Vehicle-manipulator Systems: Configuration, Modeling and Control

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