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Motion of an autonomous underwater vehicle-manipulator system based on range limit
Authors
张竺英
林江
Publication date
1 January 2009
Publisher
Abstract
对自治水下机器人搭载的四功能水下电动机械手进行了简要描述。考虑到自治水下机器人机械手系统的运动学冗余,将关节限位算法用于系统逆运动学求解,避免载体大幅度姿态变化。利用Matlab仿真表明该算法在解决系统冗余的同时有效的限制了关节位移
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 09/01/2019