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Dynamic trajectory planning of underwater hydraulic manipulator in joint space
Qu FJ(曲风杰); Zhou YM(周翊民); Wu XY(吴新宇); Zhang QF(张奇峰); Peng AS(彭安思)
作者部门水下机器人研究室
会议名称2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议日期December 5-10, 2014
会议地点Bali, Indonesia
会议主办者Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems
会议录名称2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码2564-2569
收录类别EI ; CPCI(ISTP)
EI收录号20152100876929
WOS记录号WOS:000380399500430
产权排序1
ISBN号978-1-4799-7396-5
摘要7-Function underwater hydraulic manipulator can be mounted on underwater vehicles such as ROVs to achieve underwater operation. When the underwater vehicle is hovering in the sea, the target is in dynamic motion state compared to the vehicle position, which makes difficult for operators to accomplish dynamic operation task. Based on the underwater hydraulic manipulator structure characteristics, joint angle, joint angular velocity and total flow constraints are analyzed for manipulator trajectory generation. Cubic B-spline is applied to generate joint trajectories. To generate dynamic target trajectories, a method that can modify control points by calculating adjacent control points' intervals to fit the dynamic target is proposed. It can easily achieve synchronization and does not need to determine the total execution time before operation. Simulation experiments are performed to verify the efficacy of the proposed algorithm.
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/173321/16105
专题水下机器人研究室
通讯作者Zhou YM(周翊民)
作者单位1.Shenzhen Institutes of Advanced Technology, CAS, Shenzhen, China
2.Shenyang Institute of Automation, CAS, Shenyang, China
3.Chinese University of Hong Kong, Hong Kong, Hong Kong
推荐引用方式
GB/T 7714
Qu FJ,Zhou YM,Wu XY,et al. Dynamic trajectory planning of underwater hydraulic manipulator in joint space[C]//Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems. Piscataway, NJ, USA:IEEE,2014:2564-2569.
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