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基于水下作业系统阻抗力控制水下目标定位
Alternative TitleLocalization of the underwater target based impedance force control for underwater work system
李延富; 张奇峰; 封锡盛
Department水下机器人研究室
Source Publication机械设计与制造
ISSN1001-3997
2009
Issue12Pages:225-226
Contribution Rank1
Funding Organization国家“863”计划项目资助(2006AA09Z217)
Keyword水下作业系统 力/位控制 水下目标定位 环境约束 水下机器人
Abstract提出了基于水下作业系统阻抗力控制的水下矩形围壁定位方法。水下作业系统末端执行器跟踪期望运动轨迹,通过与水下矩形围壁环境表面接触力反馈信息的变化获得与环境接触的特殊点,计算得到矩形围壁环境相对水下作业系统的位姿。以带有三自由度机械手的水下作业系统为例进行水下矩形围壁目标表面恒力跟踪的计算机仿真,仿真结果表明定位方法可以很好的获得矩形围壁环境的位姿,控制策略具有很好的表面跟踪和力控制能力。
Other AbstractAlocalization of the underwater rectangle surroundings based impedance force control for underwater work system(UWS)is presented.By tracking the reference trajectory the end-effectors of the underwater work system can follow the underwater rectangle surroundings surface.The position and orien-tation of the rectangle surroundings environments with respected to the UWS frame can be obtained by es-timating the specific contact point acquired by changing of the feedback force.Computer simulations on an UWS with...
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3452
Collection水下机器人研究室
Corresponding Author李延富
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
李延富,张奇峰,封锡盛. 基于水下作业系统阻抗力控制水下目标定位[J]. 机械设计与制造,2009(12):225-226.
APA 李延富,张奇峰,&封锡盛.(2009).基于水下作业系统阻抗力控制水下目标定位.机械设计与制造(12),225-226.
MLA 李延富,et al."基于水下作业系统阻抗力控制水下目标定位".机械设计与制造 .12(2009):225-226.
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