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A method of inverse kinematics of a 7-Function underwater hydraulic manipulator
Huo LQ(霍良青); Zhang QF(张奇峰); Zhang ZY(张竺英)
Department水下机器人研究室
Conference NameOCEANS 2013 MTS/IEEE
Conference DateSeptember 23-26, 2013
Conference PlaceSan Diego. USA
Source PublicationOCEANS 2013 MTS/IEEE
PublisherIEEE
Publication PlaceNEW YORK
2013
Pages1-4
Indexed ByEI ; CPCI(ISTP)
EI Accession number20141317500602
WOS IDWOS:000334165802069
Contribution Rank1
ISBN978-0-933957-40-4
Keyword7-function Underwater Hydraulic Manipulator Underwater Operation Inverse Kinematics Combined Method
AbstractThe 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”.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13851
Collection水下机器人研究室
Recommended Citation
GB/T 7714
Huo LQ,Zhang QF,Zhang ZY. A method of inverse kinematics of a 7-Function underwater hydraulic manipulator[C]. NEW YORK:IEEE,2013:1-4.
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