The problem of redundancy resolution and motion coordination between the vehicle and the manipulator in UVMSs (Underwater Vehicle-Manipulator Systems) is addressed. UVMSs usually possess more degree of freedom than those required to perform end-effector tasks; therefore, they are redundant system and kinematic control techniques can be applied aimed at achieving additional control objectives besides tracking of the end-effector trajectory. A task-priority inverse kinematics approach to redundancy resolution is merged with a fuzzy technique to manage the vehicle-arm coordination. The fuzzy technique is used both to distribute the motion between vehicle and manipulator and to handle multiple secondary tasks. A numerical case study is developed to demonstrate effectiveness of the proposed technique.
A fuzzy approach to redundancy resolution for underwater vehicle-manipulator systems
Eine Fuzzy-Logik-Methode zur redundanten Fernsteuerung von Unterwasserfahrzeugen
Control Engineering Practice ; 11 , 4 ; 445-452
2003
8 Seiten, 11 Bilder, 16 Quellen
Aufsatz (Zeitschrift)
Englisch
A Fuzzy Approach to Redundancy Resolution for Underwater Vehicle-Manipulator Systems
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