Inverse Kinematics Solution of Underwater Manipulator Based on Jacobi Matrix

被引：0
|
作者：
Chen, Peng [1 ]
Long, Jingchang [1 ]
Yang, Wen [1 ]
Leng, Jianxing [1 ]
机构：
[1] Zhejiang Univ, Ocean Coll, Zhoushan, Peoples R China
来源：
OCEANS 2021: SAN DIEGO - PORTO | 2021年
关键词：
Jacobi matrix; Underwater 6-DOF manipulator; Inverse kinematic solution;
D O I：
暂无
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
The inverse kinematics of the manipulator is the key and difficult point in the real-time control of the manipulator. Based on Jacobi matrix generalized inverse method, this article obtains the the inverse kinematics of a 6-DOF manipulator which is used for underwater propeller cleaning. Then, based on linear and circular target trajectory, through MATLAB simulation, we obtain all joint angles in real time, the trajectory for inverse solution and the error between simulation results and the target trajectory. The error between the simulation results and the target trajectory is less than 1.5x10(-3)m, which verifies that the method can obtain the real-time inverse kinematics solution of the manipulator.
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页数：4
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