Motion planning of planar and redundant underwater serial link manipulator based on minimization of energy consumption

Journal title

Archive of Mechanical Engineering




vol. 68


No 4


Kumar, Virendra : Robotics and Automation Division, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India ; Sen, Soumen : Robotics and Automation Division, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India ; Roy, Shibendu Shekhar : Mechanical Engineering Department, National Institute of Technology, Durgapur, India



underwater manipulator ; drag ; added inertia ; motion planning ; recursive Lagrangian formulation ; redundant manipulator ; obstacle avoidance ; singularity avoidance

Divisions of PAS

Nauki Techniczne




Polish Academy of Sciences, Committee on Machine Building


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DOI: 10.24425/ame.2021.139312 ; ISSN 0004-0738, e-ISSN 2300-1895