Maximising Wrenches for Kinematically Redundant Systems with Experiments on UVMS
| Autor: | Marais, Wilhelm Johan, Williams, Stefan B., Pizarro, Oscar |
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| Rok vydání: | 2022 |
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| Druh dokumentu: | Working Paper |
| Popis: | 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. Comment: 13 pages |
| Databáze: | arXiv |
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