Maximising the wrench capability of mobile manipulators with experiments on a UVMS

Maximising the wrench capability of mobile manipulators with experiments on a UVMS

This paper presents methods for finding optimal configurations and actuator forces/torques to maximise contact wrenches in a desired direction for underwater vehicle manipulator systems (UVMS). The wrench maximisation problem is formulated as a bi-level optimisation problem, with upper-level variabl...

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Bibliographic Details
Main Authors:	Wilhelm J. Marais, Oscar Pizarro, Stefan B. Williams
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2025-01-01
Series:	Frontiers in Robotics and AI
Subjects:	underwater manipulation kinematic redundancy bi-level optimisation redundancy parameterisation wrench maximisation trajectory optimisation
Online Access:	https://www.frontiersin.org/articles/10.3389/frobt.2024.1442813/full
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