SIA OpenIR  > 水下机器人研究室
Autonomous trajectory planning for an underwater electric manipulator based on force sensing
Zhang YX(张运修); Zhang Y(张钰); Zhang QF(张奇峰); Zhang AQ(张艾群); Fan YL(范云龙)
Department水下机器人研究室
Conference NameOCEANS 2016 MTS/IEEE Monterey
Conference DateSeptember 19-23, 2016
Conference PlaceMonterey, Canada
Source PublicationOCEANS 2016 MTS/IEEE Monterey
PublisherIEEE
Publication PlaceNew York
2016
Pages1-5
Indexed ByEI ; CPCI(ISTP)
EI Accession number20165203178377
WOS IDWOS:000399929002057
Contribution Rank1
ISBN978-1-5090-1527-6
KeywordUnderwater Electric Manipulator Autonomous Trajectory Planning End-effector Position And Orientation Deviation Force Sensing
AbstractEfficiency and accuracy could be improved by greater degree of automation in underwater tasks operating. However, there is a prerequisite that the manipulator should have a desired end-effector trajectory and suitable force applied to the environment to avoid the possibility of damage to the manipulator, object, or both. To reduce position and orientation deviation of the end-effector of a 7-function underwater electric manipulator, caused by the joints angle control error, an online adjustment algorithm based on force sensing for the autonomous trajectory planning is researched. The end-effector position and orientation deviation become smaller than the offline planning without force sensing when using same controller to operate the manipulator system. The effectiveness of the proposed method has been emphatically compared and verified through simulation experiments in this paper, and the results are reported in detail.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19691
Collection水下机器人研究室
Corresponding AuthorZhang YX(张运修); Zhang QF(张奇峰)
Affiliation1.Shenyang Institute of Automation, CAS, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Zhang YX,Zhang Y,Zhang QF,et al. Autonomous trajectory planning for an underwater electric manipulator based on force sensing[C]. New York:IEEE,2016:1-5.
Files in This Item: Download All
File Name/Size DocType Version Access License
Autonomous trajector(2173KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhang YX(张运修)]'s Articles
[Zhang Y(张钰)]'s Articles
[Zhang QF(张奇峰)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhang YX(张运修)]'s Articles
[Zhang Y(张钰)]'s Articles
[Zhang QF(张奇峰)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhang YX(张运修)]'s Articles
[Zhang Y(张钰)]'s Articles
[Zhang QF(张奇峰)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Autonomous trajectory planning for an underwater electric manipulator based on force sensing.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.