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The underwater vehicle-manipulator system (UVMS) generally has more degrees of freedom than those required to perform a given task. Because of these extra of degrees of freedom, UVMS has infinite combinations of joint velocities. In this paper, in order to generate the joint angle trajectories of the manipulator, a redundancy resolution is performed to minimize the distance between the position of...
Underwater Vehicle-Manipulator System (UVMS) is a useful system to perform diverse and sophisticated operations under the water. However it is difficult to control the motion of UVMS due to external disturbances such as payloads holding underwater objects, currents, etc. In this paper, in order to ensure the dynamic stability of the UVMS, redundancy resolution method is proposed using a zero moment...
The underwater vehicle-manipulator system (UVMS) is basically a redundant system. Hence, this redundant system can have various combinations of joint velocities that do not affect the given velocity profile of an end-effector and this may induce a self-motion of a vehicle. In the current paper, the performance index based on the concept of Zero Moment Point(ZMP) is proposed to enhance the stability...
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