TAILIEUCHUNG - On the inverse kinematics of an underwater vehicle - manipulator system

This paper presents an improved method based on the jacobian matrix and the error feedback. By using this method, the accuracy of the solution of inverse kinematics for the vehicle-manipulator system is improved. In addition, one of the advantages of a redundant system is exploited to avoid impact on joint limitations. Numerical simulations in software Matlab are carried out to verify the efficiencies of the proposed method. | Vietnam Journal of Mechanics, VAST, Vol. 34, No. 2 (2012), pp. 79 – 90 ON THE INVERSE KINEMATICS OF AN UNDERWATER VEHICLE - MANIPULATOR SYSTEM Nguyen Quang Hoang Hanoi University of Science and Technology, Vietnam Abstract. The inverse kinematics plays an important role in the trajectory planning and the control of underwater vehicle-manipulator system. The solutions of this problem have an important influence on the motion quality of end-effectors. This paper presents an improved method based on the jacobian matrix and the error feedback. By using this method, the accuracy of the solution of inverse kinematics for the vehicle-manipulator system is improved. In addition, one of the advantages of a redundant system is exploited to avoid impact on joint limitations. Numerical simulations in software Matlab are carried out to verify the efficiencies of the proposed method. Key words: Vehicle-manipulator system, inverse kinematics, numerical simulation. 1. INTRODUCTION Nowadays, underwater remotely operated vehicles (ROV) equipped with manipulators have been applied in many areas, such as ocean research and monitoring, checking and maintaining underwater structure in offshore industries [15]. The usefullnes of an on - board manipulalaror in applications of underwater vehicle has made the vehiclemanipulator mechanism very popular in recent years and attracted several researchers [2, 12]. Normally, the vehicle - manipulator system is redundant, because it has a number degree of freedom (DOF) being relatively larger than the DOF of the end - effector. The number DOFs are the same as those of the manipulator. If the motion of the vehicle and the manipulator are controlled independently, so the advantage of the redundancy of the system is not be exploited. The motion of the end - effector depends on those of the vehicle and the manipulator, or system configurations changed to time. In order to keep the end-effector along a desired trajectory, the problem of kinematics is

• Vật lý
• Vietnam Journal of Mechanics
• An underwater vehicle manipulator system
• The vehicle manipulator system
• The error feedback
• The jacobian matrix
• Dang Dinh Ang
• Nonlinear analysis and mechanics
• Dynamic problems involving stationary cracks
• The Wiener Hopt technique
• Dual integral equations
• Dual integrals in non linear fracture mechanics
• Non linear fracture mechanics
• Energy release rate
• Discuss the obtained
• The alpha finite element method (αFEM)
• Solid mechanics using triangular and tetrahedral elements
• Suitable computational cost
• NS FEM makes
• The upper bound property
• Non linear constitutive problems in solid mechanics
• Non linear constitutive problems
• Languages Gibian and special operators
• The application FEM
• Betts miller janjic convective parameterization scheme
• H14 31 model to forecast heavy rainfall in Vietnam
• Betts Miller Janjic
• Three rain seasons
• Manufacturing dry mixed cement mortar
• High compressive strength
• High flexural strength
• Low shrinkage and high watertightness for restoration
• Damaged hydraulic structures in Vietnam
• Standard gradient models and crack simulation
• Standard gradient models
• The propagation of cracks
• Damage mechanics and crack simulation
• The interaction between two parametric excitations
• The second and third degrees
• The asymptotic method of nonlinear mechanics
• Dynamic system governed
• Comparison of two hydrological model simulations
• Nam and Xinanjiang for Nong Son catchment
• The Central Vietnam
• The runoff components
• 3 D numerical simulation
• The tidal circulation
• The gulf of Tonkin
• The kinetic energy distribution
• Duality in the analysis of responses to nonlinear systems
• The analysis of responses
• The original nonlinear systems
• The study of nonlinear mechanics
• Aerodynamics of a wing in surface effect ship
• Theory and experiment
• Wing in surface effect ship
• The aerodynamic characteristics
• The Institute of Mechanics
• The error estimate
• The convergence rate for h
• p refinement
• The finite element analysis
• Three dimensional elastostatic mechanics problems
• Some initial experimental results
• Free water layer formation in horizontal pipes
• Water layer formation
• Hanoi Institute of Mechanics
• Bending vibration of beam elements under moving loads
• Considering vehicle braking forces
• Fluctuations of structures
• Beam elements according
• Continuous element for vibration analysis
• Thick shells of revolution
• Continous Element Method
• Finite element solutions
• Natural frequencies and harmonic responses
• Cast3m implementation of the extended finite element method
• The extended finite element method for cohesive crack
• Quasi brittle materia
• The proposed implementation
• The displacement discontinuities
• Buckling analysis of simply supported composite laminates subjected
• In plane compression load
• A novel mesh ffree method
• Alternative numerical technique
• Mesh free method
• A three story building
• Hedge algebras based fuzzy controller
• The structural system
• The El Centro earthquake
• Three story building against earthquake
• Laminar separation phenomenon combining with numerical calculations
• The turbulent separation
• The laminar separation
• Experimental study on mechanical properties
• Three phase polymer composite reinforced
• Glass fibers and titanium oxide particles
• Polymer composite reinforced
• Three phase composite
• Dynamic characteristics of elastically supported beam subjected
• A compressive axial force and a moving load
• The implicit Newmark method
• The Galerkin finite element method
• The axial force
• Eccentrically stiffened functionally graded plates and shallow shells
• Von Karman Donnell sense
• The formulation of governing equations
• The classical shell theory
• Mathematical modelling and control of the evolution
• Dynamic systems interacting with medium
• Mathematical modeling evolutional systems interacting
• Two conjugate mechanical subsystems
• Evaluating structural safety based on fuzzy set theory
• Evaluating structural safety
• The fuzzy reliability
• Simple beam structure