A Method for Path Planning of Hydraulic Manipulator

摘要：

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.

关键词： path planning hydraulic manipulator collisionfree simulation

作者: Yang Zheng Shang Jianzhong Cong Nan Tang Li Liang Keshan Wang Biao Gou Mingkang

作者单位: College of Mechatronics Engineering and Automation National University of Defense Technology Changsh The First Engineers Scientific Research Institute of the General Armaments Department Wuxi,China

会议类型: 国际会议

会议名称: 2009 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2009)(2009年检测技术与机械自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 952-956

在线出版日期: 2009-04-11（万方平台首次上网日期，不代表论文的发表时间）