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A fuzzy hybrid approach to inverse kinematics of underwater vehicle-manipulator systems
Robot Control, Volume # 8 | Part# 1
Location: Santa Cristina Convent, University of Bologna, Italy
National Organizing Committee Chair: Claudio Melchiorri
International Program Committee Chair: Bruno Siciliano
Conference Editor: Bruno Siciliano
Authors
Carlos Henrique dos Santos; Guilherme Bittencourt; Raul Guenther; Edson De Pieri
Identifier
10.3182/20060906-3-IT-2910.00100
Index Terms
hybrid systems,fuzzy logic,singularity,underwater vehicle-manipulator systems
Abstract
This paper investigates the possibility of applying a hybrid control with a fuzzy approach for redundancy resolution to an autonomous underwater vehicle-manipulator system (UVMS). The proposed algorithm generates a desired trajectory for the vehicle that takes into account the energy savings and the increase of system manipulability by a smooth actuation. Simulation results demonstrate the efficiency of this approach.
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