SIA OpenIR  > 水下机器人研究室
Alternative TitleStudy on the Trajectory Planning and Control Simulation of Underwater Manipulator
张钰; 张奇峰; 孙斌
Source Publication计算机仿真
Volume33Issue:8Pages:306-310, 368
Indexed ByCSCD
Contribution Rank1
Funding Organization国家863计划资助项目(2012AA091101)
Keyword水下机械手 在线轨迹规划 接触力
Other AbstractCurrently, master-slave servo position control mode is mostly adopted in underwater manipulators. Due to the low operating precision , it is difficult to meet the requirements of high precision underwater autonomous operation. In order to solve the problem, we proposed an online adjustment programming algorithm in which a force sensor was used to measure the control error of the manipulator end by taking a 7-function underwater electric manipulator as research object. The manipulator end position error of the force sensing online planning was smaller than that of the no-force sensing offline planning , comparing the simulation results under the same controller. By the adjustment of online trajectory planning , the method can effectively reduce the manipulator end position error and adjust the internal force to a small range , which protects the operating target and manipulator effectively.
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author张钰
Recommended Citation
GB/T 7714
张钰,张奇峰,孙斌. 水下机械手轨迹规划及控制仿真研究[J]. 计算机仿真,2016,33(8):306-310, 368.
APA 张钰,张奇峰,&孙斌.(2016).水下机械手轨迹规划及控制仿真研究.计算机仿真,33(8),306-310, 368.
MLA 张钰,et al."水下机械手轨迹规划及控制仿真研究".计算机仿真 33.8(2016):306-310, 368.
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