| 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)
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| Department | 水下机器人研究室 |
| Conference Name | OCEANS 2013 MTS/IEEE |
| Conference Date | September 23-26, 2013 |
| Conference Place | San Diego. USA |
| Source Publication | OCEANS 2013 MTS/IEEE |
| Publisher | IEEE |
| Publication Place | NEW YORK |
| 2013 | |
| Pages | 1-4 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20141317500602 |
| WOS ID | WOS:000334165802069 |
| Contribution Rank | 1 |
| ISBN | 978-0-933957-40-4 |
| Keyword | 7-function Underwater Hydraulic Manipulator Underwater Operation Inverse Kinematics Combined Method |
| Abstract | 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”. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://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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| File Name/Size | DocType | Version | Access | License | ||
| A method of inverse （819KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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