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题名: Inverse kinematics of redundant manipulator used in Tele-operation
作者: Yang JJ(杨君娟); Wang XL(王秀莲); Cui L(崔龙); Li HY(李洪谊)
作者部门: 机器人学研究室
会议名称: 2015 IEEE International Conference on Information and Automation
会议日期: Augest 8-10, 2015
会议地点: Lijiang, China
会议录: 2015 IEEE International Conference on Information and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1690-1695
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4673-9104-7
关键词: Terms-trajectory planning ; inverse kinematics ; Weighted Least-Norm solution ; fixed joint angle inversion method ; avoid joint limits
摘要: To address the problem that joints would exceed limitation in motion control of Tele-operation, a novel efficient inverse kinematics method for the 7 DOF manipulator of the thermonuclear fusion reactor to trajectory planning is presented in this paper. Based on Weighted Least-Norm (WLN) solution, the fixed joint angle inversion method is applied to decrease the accumulated error and avoid joint limits. Simulation results illustrate the effectiveness of the proposed algorithm on avoiding joint limitation and reducing the tracking error.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380562200310
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17682
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Yang JJ,Wang XL,Cui L,et al. Inverse kinematics of redundant manipulator used in Tele-operation[C]. 见:2015 IEEE International Conference on Information and Automation. Lijiang, China. Augest 8-10, 2015.
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