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 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.