Maximising the wrench capability of mobile manipulators with experiments on a UVMS
This paper presents methods for finding optimal configurations and actuator forces/torques to maximise contact wrenches in a desired direction for underwater vehicle manipulator systems (UVMS). The wrench maximisation problem is formulated as a bi-level optimisation problem, with upper-level variabl...
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| Language: | English |
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Frontiers Media S.A.
2025-01-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2024.1442813/full |
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| author | Wilhelm J. Marais Oscar Pizarro Stefan B. Williams |
| author_facet | Wilhelm J. Marais Oscar Pizarro Stefan B. Williams |
| author_sort | Wilhelm J. Marais |
| collection | DOAJ |
| description | This paper presents methods for finding optimal configurations and actuator forces/torques to maximise contact wrenches in a desired direction for underwater vehicle manipulator systems (UVMS). The wrench maximisation problem is formulated as a bi-level optimisation problem, with upper-level variables in a low-dimensional parameterised redundancy space, and a linear lower-level problem. We additionally consider the cases of one or more manipulators with multiple contact forces, maximising the wrench capability while tracking a trajectory and generating large wrench impulses using dynamic motions. The specific cases of maximising force to lift a heavy load and maximising torque during a valve-turning operation are considered. Extensive experimental results are presented using a 6 degree of freedom (DOF) underwater robotic platform equipped with a 4DOF manipulator and show significant increases in the wrench capability compared to existing methods for mobile manipulators. |
| format | Article |
| id | doaj-art-d9b3f4451df6471a8274014ef6522eb8 |
| institution | Kabale University |
| issn | 2296-9144 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj-art-d9b3f4451df6471a8274014ef6522eb82025-01-30T08:39:36ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442025-01-011110.3389/frobt.2024.14428131442813Maximising the wrench capability of mobile manipulators with experiments on a UVMSWilhelm J. Marais0Oscar Pizarro1Stefan B. Williams2Australian Centre For Robotics (ACFR), University of Sydney, Sydney, NSW, AustraliaDepartment of Marine Technology, Norwegian University of Science and Technology (NTNU), Trondheim, NorwayAustralian Centre For Robotics (ACFR), University of Sydney, Sydney, NSW, AustraliaThis paper presents methods for finding optimal configurations and actuator forces/torques to maximise contact wrenches in a desired direction for underwater vehicle manipulator systems (UVMS). The wrench maximisation problem is formulated as a bi-level optimisation problem, with upper-level variables in a low-dimensional parameterised redundancy space, and a linear lower-level problem. We additionally consider the cases of one or more manipulators with multiple contact forces, maximising the wrench capability while tracking a trajectory and generating large wrench impulses using dynamic motions. The specific cases of maximising force to lift a heavy load and maximising torque during a valve-turning operation are considered. Extensive experimental results are presented using a 6 degree of freedom (DOF) underwater robotic platform equipped with a 4DOF manipulator and show significant increases in the wrench capability compared to existing methods for mobile manipulators.https://www.frontiersin.org/articles/10.3389/frobt.2024.1442813/fullunderwater manipulationkinematic redundancybi-level optimisationredundancy parameterisationwrench maximisationtrajectory optimisation |
| spellingShingle | Wilhelm J. Marais Oscar Pizarro Stefan B. Williams Maximising the wrench capability of mobile manipulators with experiments on a UVMS Frontiers in Robotics and AI underwater manipulation kinematic redundancy bi-level optimisation redundancy parameterisation wrench maximisation trajectory optimisation |
| title | Maximising the wrench capability of mobile manipulators with experiments on a UVMS |
| title_full | Maximising the wrench capability of mobile manipulators with experiments on a UVMS |
| title_fullStr | Maximising the wrench capability of mobile manipulators with experiments on a UVMS |
| title_full_unstemmed | Maximising the wrench capability of mobile manipulators with experiments on a UVMS |
| title_short | Maximising the wrench capability of mobile manipulators with experiments on a UVMS |
| title_sort | maximising the wrench capability of mobile manipulators with experiments on a uvms |
| topic | underwater manipulation kinematic redundancy bi-level optimisation redundancy parameterisation wrench maximisation trajectory optimisation |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2024.1442813/full |
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