On the inverse kinematics of an underwater vehicle-manipulator system
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 a...
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| Format: | Article |
| Language: | English |
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Publishing House for Science and Technology
2012-05-01
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| Series: | Vietnam Journal of Mechanics |
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| Online Access: | https://vjs.ac.vn/index.php/vjmech/article/view/923 |