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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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2025-01-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2024.1442813/full |
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