Inverse Kinematics with Fuzzy Redundancy Resolution for a Fire Fighting Robot

  • Bruno Siciliano
  • Luigi Villani
Conference paper


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.


Inverse kinematics redundancy resolution fuzzy inference system 


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Copyright information

© Springer Science+Business Media New York 2004

Authors and Affiliations

  • Bruno Siciliano
    • 1
  • Luigi Villani
    • 1
  1. 1.Dipartimento di Informatica e SistemisticaUniversità di Napoli Federico IIItaly

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