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Inverse Kinematic Solution and Simulation for ROVs-Manipulators System
Li YF(李延富); Zhang QF(张奇峰); Feng XS(封锡盛)
Department水下机器人研究室
Conference Name20th Chinese Control and Decision Conference
Conference DateJuly 2-4, 2008
Conference PlaceYantai, China
Source Publication2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11
PublisherIEEE
Publication PlaceNEW YORK
2008
Pages3345-3348
Indexed ByEI ; CPCI(ISTP)
EI Accession number20084011610340
WOS IDWOS:000260562702097
Contribution Rank1
ISBN978-1-4244-1733-9
KeywordRovnis Redundancy Inverse Kinematic Resolution Anchor Manipulator Wln Simulation
AbstractIt is proposed to use anchor manipulators to provide a stable operating environment for underwater remotely operated vehicles (ROVs) in this paper. The kinematics equation of ROVs-Manipulators system is modeled and the motion planning of ROVs-Manipulators system (ROVMS) is described, then, a task-priority redundancy inverse kinematic solution technique based on weighted-least norm (WLN) solution is developed which address twofold aims-one for avoiding joint limit and controlling the manipulator end-effectors position, and other for limiting configuration of the ROVs vehicle. Computational aspects of the solutions are also considered in view of real-time implementation of a kinematic control algorithm. The method is applied to ROVs mounded with a five-degree-of-freedom SIWR-II Underwater-manipulator. The results from computer simulations demonstrate its effectiveness.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7822
Collection水下机器人研究室
Corresponding AuthorLi YF(李延富)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Graduate School of the Chinese Academy Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Li YF,Zhang QF,Feng XS. Inverse Kinematic Solution and Simulation for ROVs-Manipulators System[C]. NEW YORK:IEEE,2008:3345-3348.
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