Dynamic Minimum Time Trajectory Planning and Traking of 6-DOF Underwater Manipulator
文献类型：会议论文
| 作者 | Qu FJ(曲风杰); Zhang QF(张奇峰) ; Zhang ZY(张竺英); Yue P(岳鹏)
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| 出版日期 | 2014 |
| 会议名称 | 11th World Congress on Intelligent Control and Automation (WCICA 2014) |
| 会议日期 | June 29 - July 4, 2014 |
| 会议地点 | Shenyang, China |
| 关键词 | Dynamic trajectory generation B-spline GPM |
| 页码 | 5317-5322 |
| 其他题名 | 6自由度水下机械手动态最小时间轨迹规划 |
| 中文摘要 | The underwater stationary intervention object is moving relatively to underwater manipulator base when underwater vehicle is hovering. To realize the relative dynamic object operation, cubic B-spline is used in manipulator trajectory planning. This paper provides maximum interval of two adjacent control points to adjust the control points near dynamic object to generate smooth trajectory in real time. The approximate minimum time trajectory is achieved by setting maximum adjacent control points’ interval. Gradient Projection Method (GPM) with new function scalar is introduced to optimize the trajectory in joint space when manipulator is tracking the dynamic trajectory in Cartesian space. Trajectory planning and tracking simulation for a fixed base 6-DOF underwater manipulator is presented in the last. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceeding of the 11th World Congress on Intelligent Control and Automation
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-5825-2 |
| 源URL | [http://ir.sia.cn/handle/173321/15312]  |
| 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 | Qu FJ,Zhang QF,Zhang ZY,et al. Dynamic Minimum Time Trajectory Planning and Traking of 6-DOF Underwater Manipulator[C]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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