FUZZY INVERSE KINEMATICS FOR UNDERWATER VEHICLE-MANIPULATOR SYSTEMS

摘要

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.