Dynamic trajectory planning of underwater hydraulic manipulator in joint space
文献类型：会议论文
| 作者 | Qu FJ(曲风杰) ; Zhou YM(周翊民); Wu XY(吴新宇); Zhang QF(张奇峰); Peng AS(彭安思)
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| 出版日期 | 2014 |
| 会议名称 | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 |
| 会议日期 | December 5-10, 2014 |
| 会议地点 | Bali, Indonesia |
| 页码 | 2564-2569 |
| 通讯作者 | 周翊民 |
| 中文摘要 | 7-Function underwater hydraulic manipulator can be mounted on underwater vehicles such as ROVs to achieve underwater operation. When the underwater vehicle is hovering in the sea, the target is in dynamic motion state compared to the vehicle position, which makes difficult for operators to accomplish dynamic operation task. Based on the underwater hydraulic manipulator structure characteristics, joint angle, joint angular velocity and total flow constraints are analyzed for manipulator trajectory generation. Cubic B-spline is applied to generate joint trajectories. To generate dynamic target trajectories, a method that can modify control points by calculating adjacent control points' intervals to fit the dynamic target is proposed. It can easily achieve synchronization and does not need to determine the total execution time before operation. Simulation experiments are performed to verify the efficacy of the proposed algorithm. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems |
| 会议录 | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
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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 | 978-1-4799-7396-5 |
| WOS记录号 | WOS:000380399500430 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/16105]  |
| 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,Zhou YM,Wu XY,et al. Dynamic trajectory planning of underwater hydraulic manipulator in joint space[C]. 见:2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Bali, Indonesia. December 5-10, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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