Inverse Kinematics with Fuzzy Redundancy Resolution for a Fire Fighting Robot
The inverse kinematics problem for a fire fighting robot is considered in this paper. The robot is designed for a prompt intervention in road and railway tunnels and is composed by a self-cooling monorail vehicle carrying a fire fighting monitor. The redundant degrees of freedom of the system are used to perform additional control objectives besides the assigned task. A fuzzy technique is adopted to distribute the motion between the monitor and the vehicle while keeping the robot in a security zone. Simulation case studies are developed to demonstrate the effectiveness of the proposed approach.
KeywordsInverse kinematics redundancy resolution fuzzy inference system
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