| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712641 | IFAC Proceedings Volumes | 2006 | 6 Pages |
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.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Carlos Henrique dos Santos, Guilherme Bittencourt, Raul Guenther, Edson De Pieri,