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)
2016-04-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
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
DOI10.1109/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
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/11382
专题复杂系统管理与控制国家重点实验室_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
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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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