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Dynamic Minimum Time Trajectory Planning and Tracking of 6-DOF Underwater Manipulator
其他题名6自由度水下机械手动态最小时间轨迹规划
Qu FJ(曲风杰); Zhang QF(张奇峰); Zhang ZY(张竺英); Yue P(岳鹏)
作者部门水下机器人研究室
会议名称11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期June 29 - July 4, 2014
会议地点Shenyang, China
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码5317-5322
收录类别EI ; CPCI(ISTP)
EI收录号20152600977788
WOS记录号WOS:000393066205065
产权排序1
ISBN号978-1-4799-5825-2
关键词Dynamic Trajectory Generation B-spline Gpm
摘要The underwater stationary intervention object is moving relatively to underwater manipulator base when underwater vehicle is hovering. To realize the relative dynamic object operation, cubic B-spline is used in manipulator trajectory planning. This paper provides maximum interval of two adjacent control points to adjust the control points near dynamic object to generate smooth trajectory in real time. The approximate minimum time trajectory is achieved by setting maximum adjacent control points’ interval. Gradient Projection Method (GPM) with new function scalar is introduced to optimize the trajectory in joint space when manipulator is tracking the dynamic trajectory in Cartesian space. Trajectory planning and tracking simulation for a fixed base 6-DOF underwater manipulator is presented in the last.
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/173321/15312
专题水下机器人研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Qu FJ,Zhang QF,Zhang ZY,et al. Dynamic Minimum Time Trajectory Planning and Tracking of 6-DOF Underwater Manipulator[C]. Piscataway, NJ, USA:IEEE,2014:5317-5322.
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