论文标题
通过在UVMS上实验的运动学冗余系统的扳手最大化
Maximising Wrenches for Kinematically Redundant Systems with Experiments on UVMS
论文作者
论文摘要
本文介绍了寻找最佳配置和执行力/扭矩的方法，以最大程度地提高接触扳手，朝着所需的水下车辆操纵器系统（UVMS）的方向提高扳手。扳手最大化问题是作为线性编程问题提出的，并且最佳配置在参数化的冗余空间中被求解为双层优化。我们还考虑了一个或多个具有多个接触力的操纵器的案例，在跟踪轨迹的同时最大化扳手能力，并使用动态运动产生大型扳手脉冲。我们查看最大化力量以提高重载的特定情况，并在阀门转动过程中最大化扭矩。使用配备了4DOF操纵器的水下机器人平台提出了广泛的实验结果，与现有的UVMS相比，扳手能力显着增加。
This paper presents methods for finding optimal configurations and actuator forces/torques to maximise contact wrenches in a desired direction for Underwater Vehicles Manipulator Systems (UVMS). The wrench maximisation problem is formulated as a linear programming problem, and the optimal configuration is solved as a bi-level optimisation in the parameterised redundancy space. We additionally consider the cases of one or more manipulators with multiple contact forces, maximising wrench capability while tracking a trajectory, and generating large wrench impulses using dynamic motions. We look at the specific cases of maximising force to lift a heavy load, and maximising torque during a valve turning operation. Extensive experimental results are presented using an underwater robotic platform equipped with a 4DOF manipulator, and show significant increases in wrench capability compared to existing methods for UVMS.
