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- W4249002385 abstract "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." @default.
- W4249002385 created "2022-05-12" @default.
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- W4249002385 date "2003-04-01" @default.
- W4249002385 modified "2023-09-26" @default.
- W4249002385 title "A fuzzy approach to redundancy resolution for underwater vehicle-manipulator systems" @default.
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- W4249002385 doi "https://doi.org/10.1016/s0967-0661(02)00319-2" @default.
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