Abstract
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.
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Siciliano, B., Villani, L. (2004). Inverse Kinematics with Fuzzy Redundancy Resolution for a Fire Fighting Robot. In: Lenarčič, J., Galletti, C. (eds) On Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-2249-4_31
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DOI: https://doi.org/10.1007/978-1-4020-2249-4_31
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6622-0
Online ISBN: 978-1-4020-2249-4
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