On the inverse kinematics of an underwater vehicle-manipulator system

Nguyen Quang Hoang


The inverse kinematics plays an important role in the trajectory planning and the control of underwater vehicle-manipulator system. The solutions of this problem have an important influence on the motion quality of end-effectors. This paper presents an improved method based on the Jacobian matrix and the error feedback. By using this method, the accuracy of the solution of inverse kinematics for the vehicle-manipulator system is improved. In addition, one of the advantages of a redundant system is exploited to avoid impact on joint limitations. Numerical simulations in software Matlab are carried out to verify the efficiencies of the proposed method.


Vehicle-manipulator system; inverse kinematics; numerical simulation

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DOI: https://doi.org/10.15625/0866-7136/34/2/923 Display counter: Abstract : 224 views. PDF : 80 views.


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