Inverse kinematic solution and simulation for ROVs-Manipulators system

It is proposed to use anchor manipulators to provide a stable operating environment for underwater remotely operated vehicles (ROVs) in this paper. The kinematics equation of ROVs-Manipulators system is modeled and the motion planning of ROVs-Manipulators system (ROVMS) is described, then, a task-priority redundancy inverse kinematic solution technique based on weighted-least norm (WLN) solution is developed which address twofold aims one for avoiding joint limit and controlling the manipulator end-effectors position, and other for limiting configuration of the ROVs vehicle. Computational aspects of the solutions are also considered in view of real-time implementation of a kinematic control algorithm. The method is applied to ROVs mounded with a five-degree-of-freedom SIWR-II Underwater-manipulator. The results from computer simulations demonstrate its effectiveness.