A method that can obtain an optimal hitting configuration of the 8-DOF manipulator for flying ball is proposed. In this method, the position and orientation of the end-effector are firstly determined, and an analytic inverse kinematic solution of the manipulator is derived. Then, an ‘away limitation level’ of the manipulator constituted the objective function, and a teaching-learning-based optimization (TLBO) algorithm is used to optimize the redundant parameters. This method can solve the hitting configuration optimum problem of the humanoid manipulator according to the center position and its Cartesian velocity direction of the end-effector. Simulation results demonstrate the effectiveness of this method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Optimal Configuration Solution of 8-DOF Redundant Manipulator for Flying Ball


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Ren, Ziwu (Autor:in) / Wang, Zhongyuan (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    16.10.2023


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    An Optimal Configuration Solution of 8-DOF Redundant Manipulator for Flying Ball

    Ren, Ziwu / Wang, Zhongyuan / Guo, Zibo et al. | TIBKAT | 2023


    Analysis of a redundant free-flying spacecraft/manipulator system

    Nenchev, D. / Umetani, Y. / Yoshida, K. | Tema Archiv | 1992


    Trajectory planning method for redundant manipulator based on configuration plane

    Wang, Anqi / Wei, Yanhui / Han, Han et al. | British Library Online Contents | 2018



    Underwater flying manipulator

    Europäisches Patentamt | 2021

    Freier Zugriff