NDLI: Optimal Trajectory Tracking of Underwater Vehicle-Manipulator Systems Through the Clifford Algebras and of the Davies Method

Content Provider	Springer Nature Link
Author	Oliveira, Andre De Pieri, Edson More, Ubirajara
Copyright Year	2013
Abstract	The manipulation in singular regions generates an instantaneous reduction in the mechanism mobility which can result in some disturbances in the trajectory tracking. In proximity of the singularities, small velocities in the end-effectors generates high speeds in the joints due to the gradual reduction of the mobility. The phenomenon of kinematic singularity generates a instantaneous instability in torque profile of the redundant robotic systems by the transformation of secondary joints to primary joints. The disturbances of the underwater environment intensifies the effects of the kinematic singularities because the hydrodynamic strongly oppose to torque variations. This work presents a methodology for using dual quaternions in the posture feedback of a Underwater Vehicle-Manipulator System (UVMS) using the Davies method which avoids kinematic singularities and ensures the optimal torque profiles.
Starting Page	453
Ending Page	467
Page Count	15
File Format	PDF
ISSN	01887009
Journal	Advances in Applied Clifford Algebras
Volume Number	23
Issue Number	2
e-ISSN	16614909
Language	English
Publisher	SP Birkhäuser Verlag Basel
Publisher Date	2013-03-13
Publisher Place	Basel
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Mechanism mobility Kinematic singularities Davies method Dual quaternions Clifford algebra Optimal torque profiles Mathematical Methods in Physics Theoretical, Mathematical and Computational Physics Applications of Mathematics Physics
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics

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