Autonomous trajectory planning for an underwater electric manipulator based on force sensing
文献类型：会议论文
| 作者 | Zhang YX(张运修) ; Zhang Y(张钰); Zhang QF(张奇峰); Zhang AQ(张艾群); Fan YL(范云龙)
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| 出版日期 | 2016 |
| 会议名称 | OCEANS 2016 MTS/IEEE Monterey |
| 会议日期 | September 19-23, 2016 |
| 会议地点 | Monterey, Canada |
| 关键词 | Underwater electric manipulator Autonomous trajectory planning End-effector position and orientation deviation Force sensing |
| 页码 | 1-5 |
| 中文摘要 | Efficiency and accuracy could be improved by greater degree of automation in underwater tasks operating. However, there is a prerequisite that the manipulator should have a desired end-effector trajectory and suitable force applied to the environment to avoid the possibility of damage to the manipulator, object, or both. To reduce position and orientation deviation of the end-effector of a 7-function underwater electric manipulator, caused by the joints angle control error, an online adjustment algorithm based on force sensing for the autonomous trajectory planning is researched. The end-effector position and orientation deviation become smaller than the offline planning without force sensing when using same controller to operate the manipulator system. The effectiveness of the proposed method has been emphatically compared and verified through simulation experiments in this paper, and the results are reported in detail. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | OCEANS 2016 MTS/IEEE Monterey
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-1527-6 |
| 源URL | [http://ir.sia.cn/handle/173321/19691]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Zhang YX,Zhang Y,Zhang QF,et al. Autonomous trajectory planning for an underwater electric manipulator based on force sensing[C]. 见:OCEANS 2016 MTS/IEEE Monterey. Monterey, Canada. September 19-23, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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