SIA OpenIR  > 水下机器人研究室
Alternative TitleSimulation of Underwater Manipulator Trajectory Planning for Underwater Valve Opening and Closing
曲风杰; 张奇峰; 张竺英; 全伟才
Source Publication计算机仿真
Indexed ByCSCD
Contribution Rank1
Funding Organization国家863 计划资助项目( 2012AA091101)
Keyword水下机械手国内核心 轨迹规划国内核心 梯度投影法国内核心 几何法和欧拉角法
Other AbstractIn order to achieve underwater manipulator turning underwater valve autonomously, trajectory planning of underwater manipulator is researched. The process of underwater manipulator turning valve autonomously is divide into two steps - accessing and turning. During trajectory planning of underwater manipulator accessing valve, GPM is introduced to optimize joint angles. A new method that configures the GPM self-motion optimization factor is proposed. During trajectory planning of underwater manipulator turning valve,quintic polynomial is used to optimize trajectory in joint space and establish circular trajectory in Cartesian space. Geometric method and Euler angles method are used to solve inverse kinematics. The trajectory planning simulations are carried out in Matlab and the simulation results show that GPM has better performance than Weighted Least Norm method on joint angles,improves the precision of trajectory of end-effectors,and verify the rationality of quintic polynomial circular trajectory and inverse kinematics.
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Document Type期刊论文
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GB/T 7714
曲风杰,张奇峰,张竺英,等. 面向水下阀门开闭的水下机械手轨迹规划仿真[J]. 计算机仿真,2014,31(11):340-344.
APA 曲风杰,张奇峰,张竺英,&全伟才.(2014).面向水下阀门开闭的水下机械手轨迹规划仿真.计算机仿真,31(11),340-344.
MLA 曲风杰,et al."面向水下阀门开闭的水下机械手轨迹规划仿真".计算机仿真 31.11(2014):340-344.
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