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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)
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
会议录名称OCEANS 2013 MTS/IEEE
出版者IEEE
出版地NEW YORK
2013
页码1-4
收录类别EI ; CPCI(ISTP)
EI收录号20141317500602
WOS记录号WOS:000334165802069
产权排序1
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”.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13851
专题水下机器人研究室
推荐引用方式
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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