Synthesis of system for automatic formation of multilink manipulator velocity

Filaretov, Vladimir; Yukhimets, Dmitry; Konoplin, A. Yu.

doi:10.1109/icrom.2014.6990999

Cited by 7 publications

(3 citation statements)

References 3 publications

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“…Today underwater vehicles (UV) [1,2] which have multilink manipulators (MM) [3][4][5] actively used for research and development of World Ocean. Many complex technological operations are possible to perform at any depth using UV with MM.…”

Section: Introductionmentioning

confidence: 99%

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System of Automatically Correction of Program Trajectory of Motion of Multilink Manipulator Installed on Underwater Vehicle

Filaretov

Konoplin

2015

Procedia Engineering

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In this work method of synthesis of system of automatic correction of program trajectory of motion of multilink manipulator installed on underwater vehicle was discussed. Developed system allows solving problem of fast and high quality performing of underwater manipulation operations with less operator fatigue at underwater vehicle hang mode near object of work even at unintended displacements of underwater vehicle from initial position. Using of synthesized system is assumed with well-known systems of automatic stabilization of underwater vehicle in desirable point of space. Proposed automatic correction provides additional movements of multilink manipulator effector. This correction is based on information about actual angular and linear displacements of underwater vehicle from initial position and information about constantly varied configuration of multilink manipulator. Results of performed mathematical modeling have confirmed high efficiency of synthesized system.

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Section: Introductionmentioning

confidence: 99%

“…3). MM effector moved in horizontal plane along trajectory described by formula(1). Initial point of MM effector moving trajectory has coordinates: y 0 = 0; x 0 = 0.1; z 0 = 1.…”

mentioning

confidence: 99%

System of Automatically Correction of Program Trajectory of Motion of Multilink Manipulator Installed on Underwater Vehicle

Filaretov

Konoplin

2015

Procedia Engineering

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“…The vector j n of the working tool is always parallel to the vector 1 jj TT  connecting the passed and the next points of the sequence. As a result, the obtained sequence of points j T and corresponding vectors j a and j n forms the trajectory of the working tool movement, and also can set the different modes of this motion [13].…”

Section: Th Daaam International Symposium On Intelligent Manufacturmentioning

confidence: 99%