Details
Title
Motion planning of planar and redundant underwater serial link manipulator based on minimization of energy consumptionJournal title
Archive of Mechanical EngineeringYearbook
2021Volume
vol. 68Issue
No 4Affiliation
Kumar, Virendra : Robotics and Automation Division, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India ; Sen, Soumen : Robotics and Automation Division, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India ; Roy, Shibendu Shekhar : Mechanical Engineering Department, National Institute of Technology, Durgapur, IndiaAuthors
Keywords
underwater manipulator ; drag ; added inertia ; motion planning ; recursive Lagrangian formulation ; redundant manipulator ; obstacle avoidance ; singularity avoidanceDivisions of PAS
Nauki TechniczneCoverage
415-434Publisher
Polish Academy of Sciences, Committee on Machine BuildingBibliography
[1] D.E. Whitney. Resolved motion rate control of manipulators and human prostheses. IEEE Transaction on Man-Machine System, 10(2):47–53,1969. doi: 10.1109/TMMS.1969.299896.[2] Z. Shiller and H-H. Lu. Computation of path constrained time optimal motions with dynamic singularities. Journal of Dynamic Systems, Measurement, and Control, 114(1):34–40,1992. doi: 10.1115/1.2896505.
[3] N. Faiz and S.K. Agrawal.Trajectory planning of robots with dynamics and inequalities. In Proceedings IEEE International Conference on Robotics and Automation, pages 3976–3982, 2000. doi: 10.1109/ROBOT.2000.845351.
[4] S. Macfarlane and E.A. Croft. Jerk-bounded manipulator trajectory planning: design for realtime applications. IEEE Transactions on Robotics and Automation, 19(1):42–52, 2003. doi: 10.1109/TRA.2002.807548.
[5] G. Antonelli, S. Chiaverini, and N. Sarkar. External force control for underwater vehiclemanipulator systems. IEEE Transactions on Robotics and Automation, 17(6):931–938, 2001. doi: 10.1109/70.976027.
[6] D. Yoerger and J. Slotine. Robust trajectory control of underwater vehicles. IEEE Journal of Oceanic Engineering, 10(4):462–470, 1985. doi: 10.1109/JOE.1985.1145131.
[7] A. Alvarez, A. Caiti, and R. Onken. Evolutionary path planning for autonomous underwater vehicles in a variable ocean. IEEE Journal of Oceanic Engineering, 29(2):418–429, 2004. doi: 10.1109/JOE.2004.827837.
[8] N. Sarkar and T.K. Podder. Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization. IEEE Journal of Oceanic Engineering, 26(2):228–239, 2001. doi: 10.1109/48.922789.
[9] J. Yuh. Modeling and control of underwater robotic vehicles. IEEE Transactions on Systems, Man and Cybernetics, 20(6):1475–1483, 1990. doi: 10.1109/21.61218.
[10] B. Lévesque and M.J. Richard. Dynamic analysis of a manipulator in a fluid environment. International Journal of Robotics Research, 13(3):221–231, 1994. doi: 10.1177/027836499401300304.
[11] T.I. Fossen. Guidance and Control of Ocean Vehicles. John Wiley, New York, 1994.
[12] G. Antonelli. Underwater Robots. 2nd ed. Springer, 2006.
[13] T.J. Tarn, G.A. Shoults, and S.P. Yang. A dynamic model of an underwater vehicle with a robotic manipulator using Kane’s method. Autonomous Robots, 3:269–283, 1996. doi: 10.1007/BF00141159.
[14] J.M. Hollerbach. A recursive Lagrangian formulation of manipulator dynamics and a comparative study of dynamics formulation complexity. IEEE Transactions on Systems, Man, and Cybernetics, 10(11):730–736, 1980. doi: 10.1109/TSMC.1980.4308393.
[15] J.N. Newman. Marine Hydrodynamics. 40th Anniversary Edition. The MIT Press, 2018.
[16] A. Kumar, V. Kumar, and S. Sen. Dynamics of underwater manipulator: a recursive Lagrangian formulation. In R. Kumar, V.S. Chauhan, M. Talha, H. Pathak (Eds.), Machines, Mechanism and Robotics, Lecture Notes in Mechanical Engineering, pages 555–570. Springer, Singapure, 2022. doi: 10.1007/978-981-16-0550-5_56.
[17] A.K. Sharma and S.K. Saha. Simplified drag modeling for the dynamics of an underwater manipulator. IEEE Journal of Ocean Engineering, 46(1):40–55, 2021. doi: 10.1109/JOE.2019.2948412.
[18] R. Colbaugh, H. Seraji, and K.L. Glass. Obstacle avoidance for redundant robots using configuration control. Journal of Robotics Systems, 6(6):721–744,1989. doi: 10.1002/rob.4620060605.