Fuzzy redundancy resolution and motion coordination for underwater vehicle-manipulator systems

被引:66
作者
Antonelli, G [1 ]
Chiaverini, S [1 ]
机构
[1] Univ Cassino, Dipartimento Automaz Elettromagnetismo Ingn Infor, I-03043 Cassino, Italy
关键词
kinematic control; redundancy resolution; under-water vehicle-manipulator systems;
D O I
10.1109/TFUZZ.2002.806321
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
The problem of redundancy resolution and motion coordination between the vehicle and the manipulator in underwater vehicle-manipulator systems (UVMSs) is addressed in this paper. UVMSs usually possess more degrees of freedom than those required to perform end-effector tasks; therefore, they are redundant systems and kinematic control techniques can be applied aimed at achieving additional control objectives besides tracking of the end-effector trajectory. In this paper, 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. Numerical case studies are developed to demonstrate effectiveness of the proposed technique.
引用
收藏
页码:109 / 120
页数:12
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