A method of inverse kinematics of a 7-Function underwater hydraulic manipulator

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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
引用统计
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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