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题名: A method of inverse kinematics of a 7-Function underwater hydraulic manipulator
作者: Huo LQ(霍良青); Zhang QF(张奇峰); Zhang ZY(张竺英)
作者部门: 水下机器人研究室
会议名称: OCEANS 2013 MTS/IEEE
会议日期: September 23-26, 2013
会议地点: San Diego. USA
会议录: OCEANS 2013 MTS/IEEE
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2013
页码: 1-4
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-0-933957-40-4
关键词: 7-function underwater hydraulic manipulator ; underwater operation ; inverse kinematics ; combined method
摘要: The 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”.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/13851
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Huo LQ,Zhang QF,Zhang ZY. A method of inverse kinematics of a 7-Function underwater hydraulic manipulator[C]. 见:OCEANS 2013 MTS/IEEE. San Diego. USA. September 23-26, 2013.
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