학술논문
Anisotropic Disturbance Rejection for Kinematically Redundant Systems With Applications on an UVMS
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 6(4):7017-7024 Oct, 2021
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
Systems with a manipulator and a mobile base, such as in aerial and underwater applications, are susceptible to disturbances which create difficulties in maintaining a desired end effector pose. However, kinematically redundant vehicle manipulator systems can make use of the continuous space of configurations to solve an inverse kinematics problem that can be exploited to improve disturbance rejection. In this letter, we explore disturbance rejection along a given direction for both a single pose, and along a trajectory. Simulated validation results are provided on an underwater vehicle manipulator system subject to environmental disturbances.