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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)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Information and Automation
Conference DateAugest 8-10, 2015
Conference PlaceLijiang, China
Source Publication2015 IEEE International Conference on Information and Automation
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1690-1695
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161102092749
WOS IDWOS:000380562200310
Contribution Rank1
ISBN978-1-4673-9104-7
KeywordTerms-trajectory Planning Inverse Kinematics Weighted Least-norm Solution Fixed Joint Angle Inversion Method Avoid Joint Limits
AbstractTo 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.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17682
Collection机器人学研究室
Corresponding AuthorCui L(崔龙)
Affiliation1.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
Recommended Citation
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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