Inverse kinematics of redundant manipulator used in Tele-operation
文献类型：会议论文
| 作者 | Yang JJ(杨君娟) ; Wang XL(王秀莲); Cui L(崔龙); Li HY(李洪谊)
|
| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Information and Automation |
| 会议日期 | Augest 8-10, 2015 |
| 会议地点 | Lijiang, China |
| 关键词 | Terms-trajectory planning inverse kinematics Weighted Least-Norm solution fixed joint angle inversion method avoid joint limits |
| 页码 | 1690-1695 |
| 通讯作者 | 崔龙 |
| 中文摘要 | To address the problem that joints would exceed limitation in motion control of Tele-operation, a novel efficient inverse kinematics method for the 7 DOF manipulator of the thermonuclear fusion reactor to trajectory planning is presented in this paper. Based on Weighted Least-Norm (WLN) solution, the fixed joint angle inversion method is applied to decrease the accumulated error and avoid joint limits. Simulation results illustrate the effectiveness of the proposed algorithm on avoiding joint limitation and reducing the tracking error. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2015 IEEE International Conference on Information and Automation
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-9104-7 |
| WOS记录号 | WOS:000380562200310 |
| 源URL | [http://ir.sia.cn/handle/173321/17682]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Yang JJ,Wang XL,Cui L,et al. Inverse kinematics of redundant manipulator used in Tele-operation[C]. 见:2015 IEEE International Conference on Information and Automation. Lijiang, China. Augest 8-10, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。