Real-time UVMS torque distribution algorithm based on weighting matrix.

This study presents a real-time algorithm for even distributing the torque burden on the parallel manipulator with an autonomous underwater vehicle (AUV) through the cooperation of the AUV and manipulator. For the redundant resolution of the underwater vehicle manipulator system (UVMS), we used the...

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Autores principales:	Yecheol Moon, Jongin Hong, Sangrok Jin, Jangho Bae, TaeWon Seo
Formato:	article
Lenguaje:	EN
Publicado:	Public Library of Science (PLoS) 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/20c3574d002a44f8ab1ed7bbf04726ca
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id	oai:doaj.org-article:20c3574d002a44f8ab1ed7bbf04726ca
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spelling	oai:doaj.org-article:20c3574d002a44f8ab1ed7bbf04726ca2021-12-02T20:15:41ZReal-time UVMS torque distribution algorithm based on weighting matrix.1932-620310.1371/journal.pone.0253771https://doaj.org/article/20c3574d002a44f8ab1ed7bbf04726ca2021-01-01T00:00:00Zhttps://doi.org/10.1371/journal.pone.0253771https://doaj.org/toc/1932-6203This study presents a real-time algorithm for even distributing the torque burden on the parallel manipulator with an autonomous underwater vehicle (AUV) through the cooperation of the AUV and manipulator. For the redundant resolution of the underwater vehicle manipulator system (UVMS), we used the weighting matrix of the weighted pseudo inverse for kinematic and dynamic modeling. We made dynamic and kinematic modeling using the force distribution characteristics of parallel manipulators. Using the parallel manipulator's model, the weighting matrix was changed every second to share the manipulator torque with the AUV. The Taguchi method was used to reduce the calculation time for real-time calculation and to perform valve rotation operations with as little torque as possible even in an underwater environment where it is difficult to determine any cause of errors. To demonstrate the effectiveness of this algorithm, we experimented with valve rotation in water using the UVMS. Analysis of the experimental results revealed that the manipulator torque load was greatly reduced due to the AUV load distribution.Yecheol MoonJongin HongSangrok JinJangho BaeTaeWon SeoPublic Library of Science (PLoS)articleMedicineRScienceQENPLoS ONE, Vol 16, Iss 7, p e0253771 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Yecheol Moon Jongin Hong Sangrok Jin Jangho Bae TaeWon Seo Real-time UVMS torque distribution algorithm based on weighting matrix.
description	This study presents a real-time algorithm for even distributing the torque burden on the parallel manipulator with an autonomous underwater vehicle (AUV) through the cooperation of the AUV and manipulator. For the redundant resolution of the underwater vehicle manipulator system (UVMS), we used the weighting matrix of the weighted pseudo inverse for kinematic and dynamic modeling. We made dynamic and kinematic modeling using the force distribution characteristics of parallel manipulators. Using the parallel manipulator's model, the weighting matrix was changed every second to share the manipulator torque with the AUV. The Taguchi method was used to reduce the calculation time for real-time calculation and to perform valve rotation operations with as little torque as possible even in an underwater environment where it is difficult to determine any cause of errors. To demonstrate the effectiveness of this algorithm, we experimented with valve rotation in water using the UVMS. Analysis of the experimental results revealed that the manipulator torque load was greatly reduced due to the AUV load distribution.
format	article
author	Yecheol Moon Jongin Hong Sangrok Jin Jangho Bae TaeWon Seo
author_facet	Yecheol Moon Jongin Hong Sangrok Jin Jangho Bae TaeWon Seo
author_sort	Yecheol Moon
title	Real-time UVMS torque distribution algorithm based on weighting matrix.
title_short	Real-time UVMS torque distribution algorithm based on weighting matrix.
title_full	Real-time UVMS torque distribution algorithm based on weighting matrix.
title_fullStr	Real-time UVMS torque distribution algorithm based on weighting matrix.
title_full_unstemmed	Real-time UVMS torque distribution algorithm based on weighting matrix.
title_sort	real-time uvms torque distribution algorithm based on weighting matrix.
publisher	Public Library of Science (PLoS)
publishDate	2021
url	https://doaj.org/article/20c3574d002a44f8ab1ed7bbf04726ca
work_keys_str_mv	AT yecheolmoon realtimeuvmstorquedistributionalgorithmbasedonweightingmatrix AT jonginhong realtimeuvmstorquedistributionalgorithmbasedonweightingmatrix AT sangrokjin realtimeuvmstorquedistributionalgorithmbasedonweightingmatrix AT janghobae realtimeuvmstorquedistributionalgorithmbasedonweightingmatrix AT taewonseo realtimeuvmstorquedistributionalgorithmbasedonweightingmatrix
_version_	1718374511356674048

Real-time UVMS torque distribution algorithm based on weighting matrix.

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