Motion Planning of a Dual Manipulator System for Table Tennis
文献类型：会议论文
| 作者 | Zhang GW(张国伟) ; Wang C(王聪); Li B(李斌); Zheng HB(郑怀兵)
|
| 出版日期 | 2012 |
| 会议名称 | 2012 12th International Conference on Intelligent Autonomous System |
| 会议日期 | June 26-29, 2012 |
| 会议地点 | Jeju Island, Korea |
| 关键词 | flexible needle path planning dynamic programming multilayer tissue obstacle fuzzification |
| 页码 | 335-344 |
| 中文摘要 | This paper describes the design and development of a novel dual manipulator system for table tennis as an application of Human-Robot Interaction (HRI). To hit table tennis quickly, a method to obtain time-constrained trajectory joining two way-points is developed and implemented. Because the quintic polynomial trajectory is a smooth curve and can reduce jerk, it appears to be excellent choice for hitting task. Five phase quintic polynomials are adopted to fit the smooth trajectory in joint space under the constraint of robotic kinematics parameters. The boundary conditions of five phase qunitic polynomials used to compute the trajectories are discussed under different initial kinematics conditions. Experimental results of actual robotic system with dual manipulators and vision system show that the proposed method works well. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robotics and Automation Society |
| 会议录 | Advances in Intelligent Systems and Computing
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Heidelberg, Germany |
| 语种 | 英语 |
| ISSN号 | 2194-5357 |
| WOS记录号 | WOS:000313768300032 |
| 源URL | [http://ir.sia.cn/handle/173321/10211]  |
| 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 | Zhang GW,Wang C,Li B,et al. Motion Planning of a Dual Manipulator System for Table Tennis[C]. 见:2012 12th International Conference on Intelligent Autonomous System. Jeju Island, Korea. June 26-29, 2012. |
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。