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Inverse kinematics of redundant manipulator used in Tele-operation
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
会议录名称2015 IEEE International Conference on Information and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1690-1695
收录类别EI ; CPCI(ISTP)
EI收录号20161102092749
WOS记录号WOS:000380562200310
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17682
专题机器人学研究室
通讯作者Cui L(崔龙)
作者单位1.Shenyang Ligong University, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
推荐引用方式
GB/T 7714
Yang JJ,Wang XL,Cui L,et al. Inverse kinematics of redundant manipulator used in Tele-operation[C]. Piscataway, NJ, USA:IEEE,2015:1690-1695.
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