电气工程 |
|
|
|
|
基于四元数的机械手姿态定向控制 |
黄水华,江沛,韦巍,项基,彭勇刚 |
浙江大学 电气工程学院,浙江 杭州 310027 |
|
Attitude pointing control of manipulator based on quaternion |
HUANG Shui hua, JIANG Pei,WEI Wei, XIANG Ji, PENG Yong gang |
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China |
引用本文:
黄水华,江沛,韦巍,项基,彭勇刚. 基于四元数的机械手姿态定向控制[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2016.01.025.
HUANG Shui hua, JIANG Pei,WEI Wei, XIANG Ji, PENG Yong gang. Attitude pointing control of manipulator based on quaternion. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2016.01.025.
链接本文:
http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2016.01.025
或
http://www.zjujournals.com/eng/CN/Y2016/V50/I1/173
|
[1] LUH J Y S, WALKER M W, PAUL R P C. Resolved acceleration control of mechanical manipulators [J]. IEEE Transactions on Automatic Control, 1980, 25(3): 468-474.
[2]LIN S K. Singularity of nonlinear feedback control scheme for robots [J]. IEEE Transactions on Systems, Man and Cybernetics, 1989, 19(1): 134-139.
[3]CRASSIDIS J L, MARKIEY F L. Attitude estimation using modified Rodrigues parameters [J]. 1996: 71-83.
[4]DIMAROGONAS D V, TSIOTRAS P, KYRIAKOPOULOS K J. Laplacian cooperative attitude control of multiple rigid bodies [C]∥ IEEE International Symposium on Intelligent Control. [S. l.]: IEEE, 2006: 3064-3069.
[5]REN W. Distributed cooperative attitude synchronization and tracking for multiple rigid bodies [J]. IEEE Transactions on Control Systems Technology, 2010, 18(2): 383-392.
[6]LIN S K. Euler parameters in robot Cartesian control [C]∥ IEEE International Conference on Robotics and Automation. [S. l.]: IEEE, 1988: 1676-1681.
[7]KREUTZ K. On manipulator control by exact linearization [J]. IEEE Transactions on Automatic Control, 1989, 34(7): 763-767.
[8]CACCAVALE F, N NATALE C, SICILLIANO B, et al. Resolved acceleration control of robot manipulators: a critical review with experiments [J]. Robotica, 1998, 16(05): 565-573.
[9]LIN S K. Singularity of nonlinear feedback control scheme for robots [J]. IEEE Transactions on Systems, Man and Cybernetics, 1989, 19(1): 134-139.
[10]LIN S K. Singularity of nonlinear feedback control scheme for robots [J]. IEEE Transactions on Systems, Man and Cybernetics, 1989, 19(1): 134-139.
[11]WEN J T Y, KREUTZ DELGADO K. The attitude control problem [J]. IEEE Transactions on Automatic Control, 1991, 36(10): 1148-1162.
[12]LIZARRALDE F, WEN J T. Attitude control without angular velocity measurement: a passivity approach [J]. IEEE Transactions on Automatic Control, 1996, 41(3): 468-472.
[13]CACCAVALE F, SICILLIANO B. Quaternion based kinematic control of redundant spacecraft/manipulator systems [C]∥ IEEE International Conference on Robotics and Automation. [S. l.]: IEEE, 2001: 435-440.
[14]XIAN B, DE UEIROZ M S, DAWSON D, et al. Task space tracking control of robot manipulators via quaternion feedback [J]. IEEE Transactions on Robotics and Automation, 2004, 20(1): 160-167.
[15]TAYLOR R H. Planning and execution of straight line manipulator trajectories [J]. IBM Journal of Research and Development, 1979, 23(4): 424-436.
[16]刘松国, 朱世强, 王宣银, 等. 基于四元数和 B 样条的机械手平滑姿态规划器[J]. 浙江大学学报: 工学版, 2009, 43(7): 1192-1196.
LIU Song guo, ZHU Shi qiang, WANG Xuan yin,et al.Smooth orientation planner for manipulators based on quaternion and B spline [J]. Journal of Zhejiang University: Engineering Science, 2009, 43(7): 1192-1196.
[17]HUANG S, PENG Y, WEI W, et al. Clamping weighted least norm method for the manipulator kinematic control: avoiding joint limits [C]∥Control Conference (CCC). [S. l.]: IEEE, 2014: 8309-8314. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
|
Shared |
|
|
|
|
|
Discussed |
|
|
|
|