Dexterous Task-priority Based Redundancy Resolution for Underwater-manipulator Systems

  title={Dexterous Task-priority Based Redundancy Resolution for Underwater-manipulator Systems},
  author={Serdar Soylu and Bradley J. Buckham and Ron P. Podhorodeski},
The problem of redundancy resolution for underwater remote vehicle-manipulator systems (URVM) is addressed in the current work. In URVM applications, it is beneficial to have the underwater remote vehicle (URV) hold station using its thrusters while a human pilot operates the serial manipulator. This provides a stable platform for the manipulator and eases the pilot’s job drastically when current and/or tether disturbances are present. However, when following this objective, the redundancy of… CONTINUE READING
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