@article{Antonelli2003j,
  author = {Antonelli, Gianluca and Chiaverini, Stefano},
  title = {A fuzzy approach to redundancy resolution for underwater vehicle-manipulator systems},
  journal = {Control Engineering Practice},
  volume = {11},
  number = {4},
  doi = {10.1016/S0967-0661(02)00319-2},
  issn = {ISSN(print='09670661', electronic=None)},
  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. © 2003 Elsevier Science Ltd. All rights reserved.},
  year = {2003},
}

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