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题名: Dynamic Minimum Time Trajectory Planning and Traking 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
作者: 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: Proceeding of the 11th World Congress on Intelligent Control and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 5317-5322
收录类别: EI
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15312
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Qu FJ,Zhang QF,Zhang ZY,et al. Dynamic Minimum Time Trajectory Planning and Traking of 6-DOF Underwater Manipulator[C]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014.
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文件名: Dynamic minimum time trajectory planning and tracking of 6-DOF underwater manipulator.pdf
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