Inverse Kinematic Solution and Simulation for ROVs-Manipulators System
文献类型：会议论文
| 作者 | Li YF(李延富); Zhang QF(张奇峰) ; Feng XS(封锡盛)
|
| 出版日期 | 2008 |
| 会议名称 | 20th Chinese Control and Decision Conference |
| 会议日期 | July 2-4, 2008 |
| 会议地点 | Yantai, China |
| 关键词 | ROVNIS Redundancy Inverse Kinematic Resolution Anchor manipulator WLN Simulation |
| 页码 | 3345-3348 |
| 通讯作者 | 李延富 |
| 中文摘要 | It is proposed to use anchor manipulators to provide a stable operating environment for underwater remotely operated vehicles (ROVs) in this paper. The kinematics equation of ROVs-Manipulators system is modeled and the motion planning of ROVs-Manipulators system (ROVMS) is described, then, a task-priority redundancy inverse kinematic solution technique based on weighted-least norm (WLN) solution is developed which address twofold aims-one for avoiding joint limit and controlling the manipulator end-effectors position, and other for limiting configuration of the ROVs vehicle. Computational aspects of the solutions are also considered in view of real-time implementation of a kinematic control algorithm. The method is applied to ROVs mounded with a five-degree-of-freedom SIWR-II Underwater-manipulator. The results from computer simulations demonstrate its effectiveness. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1733-9 |
| WOS记录号 | WOS:000260562702097 |
| 源URL | [http://ir.sia.cn/handle/173321/7822]  |
| 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 | Li YF,Zhang QF,Feng XS. Inverse Kinematic Solution and Simulation for ROVs-Manipulators System[C]. 见:20th Chinese Control and Decision Conference. Yantai, China. July 2-4, 2008. |
入库方式： OAI收割
来源：沈阳自动化研究所
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