Motion planning of planar and redundant underwater serial link manipulator based on minimization of energy consumption
The article describes motion planning of an underwater redundant manipulator with revolute joints moving in a plane under gravity and in the presence of obstacles. The proposed motion planning algorithm is based on minimization of the total energy in overcoming the hydrodynamic as well as dynamic fo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Polish Academy of Sciences
2021-10-01
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| Series: | Archive of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://journals.pan.pl/Content/121185/PDF/AME_2021_139312.pdf |