Dynamic trajectory planning of underwater hydraulic manipulator in joint space

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Dynamic trajectory planning of underwater hydraulic manipulator in joint space
	Qu FJ(曲风杰); Zhou YM(周翊民); Wu XY(吴新宇); Zhang QF(张奇峰); Peng AS(彭安思)
	2014
会议名称	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议日期	December 5-10, 2014
会议地点	Bali, Indonesia
页码	2564-2569
通讯作者	周翊民
中文摘要	7-Function underwater hydraulic manipulator can be mounted on underwater vehicles such as ROVs to achieve underwater operation. When the underwater vehicle is hovering in the sea, the target is in dynamic motion state compared to the vehicle position, which makes difficult for operators to accomplish dynamic operation task. Based on the underwater hydraulic manipulator structure characteristics, joint angle, joint angular velocity and total flow constraints are analyzed for manipulator trajectory generation. Cubic B-spline is applied to generate joint trajectories. To generate dynamic target trajectories, a method that can modify control points by calculating adjacent control points' intervals to fit the dynamic target is proposed. It can easily achieve synchronization and does not need to determine the total execution time before operation. Simulation experiments are performed to verify the efficacy of the proposed algorithm.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems
会议录	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4799-7396-5
WOS记录号	WOS:000380399500430
内容类型	会议论文
源URL	[http://ir.sia.ac.cn/handle/173321/16105]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Qu FJ,Zhou YM,Wu XY,et al. Dynamic trajectory planning of underwater hydraulic manipulator in joint space[C]. 见:2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Bali, Indonesia. December 5-10, 2014.