A method of inverse kinematics of a 7-Function underwater hydraulic manipulator
文献类型：会议论文
| 作者 | Huo LQ(霍良青); Zhang QF(张奇峰) ; Zhang ZY(张竺英)
|
| 出版日期 | 2013 |
| 会议名称 | OCEANS 2013 MTS/IEEE |
| 会议日期 | September 23-26, 2013 |
| 会议地点 | San Diego. USA |
| 关键词 | 7-function underwater hydraulic manipulator underwater operation inverse kinematics combined method |
| 页码 | 1-4 |
| 中文摘要 | The work presented in this paper focus on underwater operation technology, combined with the kinematics structure characteristics of a self-developed 7-function underwater hydraulic manipulator, a method of the manipulator’s inverse kinematics is proposed. Using the combined method, in the case of knowing the manipulator end-effector’s position and attitude, analytic solution of each joint can be solved quickly. This method is combined with the characteristics of Euler method and geometric method, the former three joint angles are achieved through the Euler method, and the last three joint angles are obtained through geometric method. The effectiveness of the method is verified by simulation and experiment on writing word “SIA”. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | OCEANS 2013 MTS/IEEE
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-0-933957-40-4 |
| WOS记录号 | WOS:000334165802069 |
| 源URL | [http://ir.sia.cn/handle/173321/13851]  |
| 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 | Huo LQ,Zhang QF,Zhang ZY. A method of inverse kinematics of a 7-Function underwater hydraulic manipulator[C]. 见:OCEANS 2013 MTS/IEEE. San Diego. USA. September 23-26, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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