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Study on kinematical control based on fuzzy inference for underwater work system
Tang, Lu; Li YF(李延富)
作者部门机器人学研究室
会议名称2009 Chinese Control and Decision Conference, CCDC 2009
会议日期June 17-19, 2009
会议地点Guilin, China
会议录名称2009 Chinese Control and Decision Conference, CCDC 2009
出版者IEEE Computer Society
出版地Piscataway, USA
2009
页码684-688
收录类别EI ; CPCI(ISTP)
EI收录号20094712469935
WOS记录号WOS:000274047200133
产权排序2
ISBN号978-1-4244-2723-9
关键词Computer Simulation Fuzzy Inference Inverse Kinematics Manipulators Quality Assurance Redundancy Robots Underwater Construction
摘要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. © 2009 IEEE.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10500
专题机器人学研究室
作者单位1.Shenyang University, School of Information Engineering, Liaoning Shenyang 110044, China
2.State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang 110016, China
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Tang, Lu,Li YF. Study on kinematical control based on fuzzy inference for underwater work system[C]. Piscataway, USA:IEEE Computer Society,2009:684-688.
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