Study on kinematical control based on fuzzy inference for underwater work system
The underwater work system (underwater robot system mounded with underwater manipulator) is a redundant system. Because of the different inertia characteristics of the vehicle and of the manipulator, the vehicle and manipulator motions must be coordinated and several variables must be monitored and optimized during the task execution. This paper presents a fuzzy inverse kinematics resolution based on the task-priority redundancy for underwater work systems. The resolution uses the task-priority redundancy method merged with a fuzzy logic based weighting scheme to introduce several secondary objectives. The method was applied to ROVs mounded with a three-degree-of-freedom underwater-manipulator. The results from computer simulations demonstrate its effectiveness.
Underwater woke systems Kinematical Control Fuzzy Inference Underwater Robot
Lu Tang Yanfu Li
Shenyang University School of Information Engineering, Liaoning Shenyang 110044 State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang 110016
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
684-688
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）