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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.
Control and Decision Conference, 2009. CCDC '09. Chinese
Date of Conference: 17-19 June 2009