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题名: Motion Planning of a Dual Manipulator System for Table Tennis
作者: Zhang GW(张国伟) ; Wang C(王聪) ; Li B(李斌) ; Zheng HB(郑怀兵)
作者部门: 机器人学研究室
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
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
出版日期: 2012
页码: 335-344
收录类别: CPCI(ISTP) ; EI
ISSN号: 2194-5357
关键词: flexible needle ; path planning ; dynamic programming ; multilayer tissue ; obstacle fuzzification
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10211
Appears in Collections:机器人学研究室_会议论文

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