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Motion Planning of a Dual Manipulator System for Table Tennis
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
会议录名称Advances in Intelligent Systems and Computing
出版者Springer Verlag
出版地Heidelberg, Germany
2012
页码335-344
收录类别EI ; CPCI(ISTP)
EI收录号20130515952995
WOS记录号WOS:000313768300032
产权排序1
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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10211
专题机器人学研究室
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Graduate School, Chinese Academy of Sciences, Beijing, China
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]//IEEE Robotics and Automation Society. Heidelberg, Germany:Springer Verlag,2012:335-344.
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