Title :
A Method for Path Planning of Hydraulic Manipulator
Author :
Yang Zheng ; Shang Jianzhong ; Cong Nan ; Tang Li ; Liang Keshan ; Wang Biao ; Gou Mingkang
Author_Institution :
Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China
Abstract :
A method for path planning of hydraulic manipulator is put forward. First, a collision-free path is planned based on the CS (configuration space) modeling of nDOFs manipulator. Then the collision-free path is optimized via parabolic transition & linear interpolation, according to the characteristic of hydraulic cylinder. Finally, taking a kind of hydraulic manipulator in engineering for example, the validity of this method is verified using MSC.ADAMS simulation.
Keywords :
collision avoidance; interpolation; manipulator kinematics; mobile robots; solid modelling; virtual prototyping; 3D entity modeling; collision-free path planning; configuration space modeling; hydraulic cylinder; hydraulic manipulator; inverse kinematics; linear interpolation; parabolic transition; virtual prototype simulation; Data mining; Design automation; Manufacturing automation; Mechanical variables measurement; Mechatronics; Path planning; Service oriented architecture; Software packages; User interfaces; Web services;
Conference_Titel :
Measuring Technology and Mechatronics Automation, 2009. ICMTMA '09. International Conference on
Conference_Location :
Zhangjiajie, Hunan
Print_ISBN :
978-0-7695-3583-8
DOI :
10.1109/ICMTMA.2009.265
