Paper Info
Title
Dynamic trajectory planning of underwater hydraulic manipulator in joint space
Abstract
7-Function underwater hydraulic manipulator can be mounted on underwater vehicles such as ROVs to achieve underwater operation. When the underwater vehicle is hovering in the sea, the target is in dynamic motion state compared to the vehicle position, which makes difficult for operators to accomplish dynamic operation task. Based on the underwater hydraulic manipulator structure characteristics, joint angle, joint angular velocity and total flow constraints are analyzed for manipulator trajectory generation. Cubic B-spline is applied to generate joint trajectories. To generate dynamic target trajectories, a method that can modify control points by calculating adjacent control points' intervals to fit the dynamic target is proposed. It can easily achieve synchronization and does not need to determine the total execution time before operation. Simulation experiments are performed to verify the efficacy of the proposed algorithm.
Year
DOI
Venue
2014
10.1109/ROBIO.2014.7090727
ROBIO
Keywords
Field
DocType
adjacent control point calculation,dynamic target trajectory generation,underwater hydraulic manipulator,cubic b-spline,dynamic trajectory planning,autonomous underwater vehicles,manipulator trajectory generation,synchronization,joint angle,path planning,joint angular velocity,trajectory control,joint space,flow constraint,hydraulic control equipment,splines (mathematics),underwater vehicles,trajectory,angular velocity,pistons
Remotely operated underwater vehicle,Synchronization,Angular velocity,Control theory,Simulation,Flow (psychology),Piston,Control engineering,Operator (computer programming),Engineering,Trajectory,Underwater
Conference
Citations 
PageRank 
References 
0
0.34
6
Authors
5
Name
Order
Citations
PageRank
Fengjie Qu100.34
Yimin Zhou23612.53
Xinyu Wu351580.44
Qifeng Zhang441.56
Ansi Peng521.10