Robust iterative multitask control of the Underwater Biomimetic Vehicle-Manipulator System | |
Tang, Chong1,2; Wang, Yu1; Wang, Shuo1; Tan, Min1 | |
2016-12 | |
会议日期 | December, 2016 |
会议地点 | QingDao, China |
英文摘要 | This paper presents an effective approach for multi-task control of the underwater biomimetic vehicle-manipulator system. The main idea of this approach lies in organizing and combining the tasks by priorities, while decomposes the coupled relations among the tasks by null-space mapping consecutively avoiding interaction effects. A direct kinematic model is firstly built to describe the motions and states of the end grasper. Then, the robust closed-loop iterative task-priority algorithm is designed. Here, the kinematic singularity and algorithm singularity are modified by the effective methods to ensure the robustness of the algorithm. Eventually, this algorithm is applied to solve the multi-task control problem of the underwater biomimetic vehicle-manipulator system in the grasping mission. Three noteworthy characteristics are discussed dialectically, and the obtained results show the effectiveness of this algorithm. |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/23551] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
通讯作者 | Wang, Yu |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Tang, Chong,Wang, Yu,Wang, Shuo,et al. Robust iterative multitask control of the Underwater Biomimetic Vehicle-Manipulator System[C]. 见:. QingDao, China. December, 2016. |
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