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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)
作者部门水下机器人研究室
会议名称OCEANS 2016 MTS/IEEE Monterey
会议日期September 19-23, 2016
会议地点Monterey, Canada
会议录名称OCEANS 2016 MTS/IEEE Monterey
出版者IEEE
出版地New York
2016
页码1-5
收录类别EI ; CPCI(ISTP)
EI收录号20165203178377
WOS记录号WOS:000399929002057
产权排序1
ISBN号978-1-5090-1527-6
关键词Underwater Electric Manipulator Autonomous Trajectory Planning End-effector Position And Orientation Deviation Force Sensing
摘要Efficiency 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.
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/173321/19691
专题水下机器人研究室
通讯作者Zhang YX(张运修); Zhang QF(张奇峰)
作者单位1.Shenyang Institute of Automation, CAS, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
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.
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