Title :
A method of inverse kinematics of a 7-function underwater hydraulic manipulator
Author :
Liangqing Huo ; Qifeng Zhang ; Zhuying Zhang
Author_Institution :
State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China
Abstract :
The work presented in this paper focus on underwater operation technology, combined with the kinematics structure characteristics of a self-developed 7-function underwater hydraulic manipulator, a method of the manipulator´s inverse kinematics is proposed. Using the combined method, in the case of knowing the manipulator end-effector´s position and attitude, analytic solution of each joint can be solved quickly. This method is combined with the characteristics of Euler method and geometric method, the former three joint angles are achieved through the Euler method, and the last three joint angles are obtained through geometric method. The effectiveness of the method is verified by simulation and experiment on writing word “SIA”.
Keywords :
end effectors; geometry; hydraulic systems; manipulator kinematics; 7-function underwater hydraulic manipulators; Euler method; end effector attitude; geometric method; manipulator end effector position; manipulator inverse kinematics; underwater operation technology; Automation; End effectors; Joints; Kinematics; Laplace equations; 7-function underwater hydraulic manipulator; combined method; inverse kinematics; underwater operation;
Conference_Titel :
Oceans - San Diego, 2013
Conference_Location :
San Diego, CA
