A fuzzy approach to redundancy resolution for underwater vehicle-manipulator systems

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 degree 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 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. A numerical case study is developed to demonstrate effectiveness of the proposed technique.