An Energy Minimized Solution for Solving Redundancy of Underwater Vehicle-Manipulator System Based on Genetic Algorithm

摘要

An energy minimized method using genetic algorithm for solving redundancy of underwater vehicle-manipulator system is proposed in this paper. Energy minimization is here set up as an optimization problem. Under the constraints of the dynamic and kinematic equations, the inverse kinematic solution with the optimal index is formed by using the weight pseudoinverse matrix. Energy consumption function is chosen as the objective function, and then the energy minimized solution based on genetic algorithm for solving the redundancy of the system is performed. Two numerical examples are carried out to verify the proposed method and promising result is obtained.