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This paper presents methods for finding optimal configurations and actuatorforces/torques to maximise contact wrenches in a desired direction forUnderwater Vehicles Manipulator Systems (UVMS). The wrench maximisation problemis formulated as a linear programming problem, and the optimal configuration issolved as a bi-level optimisation in the parameterised redundancy space. Weadditionally consider the cases of one or more manipulators with multiplecontact forces, maximising wrench capability while tracking a trajectory, andgenerating large wrench impulses using dynamic motions. We look at the specificcases of maximising force to lift a heavy load, and maximising torque during avalve turning operation. Extensive experimental results are presented using anunderwater robotic platform equipped with a 4DOF manipulator, and showsignificant increases in wrench capability compared to existing methods forUVMS.

Maximising Wrenches for Kinematically Redundant Systems with Experiments on UVMS