Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation

doi:10.1109/TMECH.2015.2494068

	Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation
	Wang, Yu; Wang, Shuo; Wei, Qingping; Tan, Min; Zhou, Chao; Yu, Junzhi; Wang S(王硕)
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2016-04-01
卷号	21 期号:2 页码:815-824
文章类型	Article
摘要	This paper addresses the novel design of an underwater manipulator with a lightweight multilink structure and its free-floating autonomous operation. The concept design reduces the coupling between the manipulator and the vehicle efficiently, even in the case where the vehicle weight in air is not significantly greater than the manipulator weight. The specific implementation of the mechanical structure is elaborated. Moreover, a closed-loop control system based on binocular vision is proposed for underwater manipulation. In the end, experimental results demonstrate that the conceived underwater manipulator can accomplish the autonomous operation quickly.
关键词	Autonomous Operation Free-floating Manipulation Underwater Manipulator Uvms
WOS标题词	Science & Technology ; Technology
DOI	10.1109/TMECH.2015.2494068
关键词[WOS]	INTERVENTION MISSIONS ; TRACKING CONTROL ; REDUNDANCY RESOLUTION ; MOTION CONTROL ; VEHICLE ; SYSTEMS ; AUV ; PROJECT ; ROBOT
收录类别	SCI
语种	英语
项目资助者	National Natural Science Foundation of China(51175496 ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; Beijing Natural Science Foundation(3141002) ; 61333016 ; 61273337 ; 61473295)
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:000372368700020
引用统计	被引频次：64[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/11382
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wang S(王硕)
作者单位	Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang, Yu,Wang, Shuo,Wei, Qingping,et al. Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(2):815-824.
APA	Wang, Yu.,Wang, Shuo.,Wei, Qingping.,Tan, Min.,Zhou, Chao.,...&王硕.(2016).Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(2),815-824.
MLA	Wang, Yu,et al."Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.2(2016):815-824.

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