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Research on the Trajectory Planning of Demolition Robot Attachment Changing

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成果类型:
期刊论文
作者:
Deng, Qian;Zou, Shuliang*;Chen, Hongbin;Duan, Weixiong
通讯作者:
Zou, Shuliang
作者机构:
[Deng, Qian; Chen, Hongbin; Duan, Weixiong] Univ South China, Coll Mech Engn, Hengyang 421001, Peoples R China.
[Deng, Qian; Chen, Hongbin; Duan, Weixiong; Zou, Shuliang] Univ South China, Hunan Prov Key Lab Emergency Safety Technol & Equ, Hengyang 421001, Peoples R China.
通讯机构:
[Zou, Shuliang] U
Univ South China, Hunan Prov Key Lab Emergency Safety Technol & Equ, Hengyang 421001, Peoples R China.
语种:
英文
关键词:
demolition robot;attachment changing;trajectory planning;inverse kinematics
期刊:
Sensors
ISSN:
1424-3210
年:
2020
卷:
20
期:
16
页码:
4502-
基金类别:
Conceptualization, Q.D.; methodology, Q.D.; software, Q.D.; validation, Q.D.; formal analysis, W.D.; investigation, H.C.; resources, S.Z.; writing—original draft, Q.D.; writing—review and editing, Q.D.; visualization, Q.D.; supervision, S.Z.; project administration, S.Z.; funding acquisition, S.Z. All the authors have read and agreed to the published version of the manuscript. All authors have read and agreed to the published version of the manuscript. This research was funded by China Hunan Provincial Science and Technology Department, grant number 2020JJ5461, and Hengyang Science and Technology Board, grant number 014.
机构署名:
本校为第一且通讯机构
院系归属:
机械工程学院
摘要:
The process of changing the attachment of a demolition robot is a complex operation and requires a high docking accuracy, so it is hard for operators to control this process remotely through the camera’s perspective. To solve this problem, this paper studies trajectory planning for changing a demolition robot attachment. This paper establishes a link parameter model of the demolition robot; the position and attitude of the attachment are obtained through a camera, the optimal docking point is calculated to minimize the distance error during an...

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