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Motion Planning of Docking Process for Underwater Vehicle Based on Manipulator Aided Grasping

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13016))

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Abstract

Underwater vehicle-manipulator system (UVMS) is a useful tool for underwater inspection, maintenance, and repair task. And underwater docking systems can fulfill underwater charging and data exchange for UVMS. However, docking operation is difficult due to complex underwater environment. The manipulator can be applied to aid the docking mission. In this study, the dynamic model of UVMS including vehicle and manipulator is proposed, and the relationships of kinematics about end effector and system velocity are established. Based on three possible tasks, singularity-robust task priority redundancy resolution method is modified considering joint limits. Two cases using direct pseudoinverse method and task priority method are compared. The results of numerical simulation show that our proposed method can coordinate the motion of UVMS and complete docking mission successfully.

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Authors and Affiliations

  1. College of Engineering, Ocean University of China, Qingdao, 266100, China

    Yang Zhang, Zongyu Chang, Kunfan Shen, Jinyi Li & Zhongqiang Zheng

  2. Key Laboratory of Ocean Engineering of Shandong Province, Qingdao, 266100, China

    Yang Zhang & Zongyu Chang

Authors
  1. Yang Zhang
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  2. Zongyu Chang
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  3. Kunfan Shen
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  4. Jinyi Li
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  5. Zhongqiang Zheng
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Corresponding author

Correspondence to Zongyu Chang .

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Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Zhang, Y., Chang, Z., Shen, K., Li, J., Zheng, Z. (2021). Motion Planning of Docking Process for Underwater Vehicle Based on Manipulator Aided Grasping. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_23

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  • DOI: https://doi.org/10.1007/978-3-030-89092-6_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89091-9

  • Online ISBN: 978-3-030-89092-6

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