Kinematics and Singularity Analysis of an Underwater Electric Manipulator

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An underwater electric manipulator is a key operational tool for unmanned underwater vehicles. The control of this manipulator demands kinematic models, but for arms of different structures, these models differ. Furthermore, underwater electric manipulators encounter certain singular positions; at t...

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Bibliographic Details
Published in:Kongzhi Yu Xinxi Jishu
Main Authors: HUANG Zhong, LIU Kean
Format: Article
Language:Chinese
Published: Editorial Office of Control and Information Technology 2023-12-01
Subjects:
underwater electric manipulator
forward kinematics model
inverse kinematics model
jacobian matrix
singularity
condition number
Online Access:https://ctet.csrzic.com/html/202306011/index.html

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