Abstract
In this paper the problem of motion coordination between the vehicle and the manipulator in Underwater Vehicle-Manipulator Systems (UVMSs) is addressed. UVMSs usually possess more degrees 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. In this paper, a task-priority inverse kinematics approach to redundancy resolution is merged with a fuzzy technique to manage the vehicle-arm motion coordination. A numerical simulation study is developed to demonstrate effectiveness of the proposed technique.
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References
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© 2000 Springer Science+Business Media Dordrecht
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Antonelli, G., Chiaverini, S. (2000). Fuzzy Inverse Kinematics for Underwater Vehicle-Manipulator Systems. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_26
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DOI: https://doi.org/10.1007/978-94-011-4120-8_26
Publisher Name: Springer, Dordrecht
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