|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)
|Source Publication||IEEE-ASME TRANSACTIONS ON MECHATRONICS
|Abstract||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.|
|WOS Headings||Science & Technology
|WOS Keyword||INTERVENTION MISSIONS
; TRACKING CONTROL
; REDUNDANCY RESOLUTION
; MOTION CONTROL
|Funding Organization||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)
|WOS Research Area||Automation & Control Systems
|WOS Subject||Automation & Control Systems
; Engineering, Manufacturing
; Engineering, Electrical & Electronic
; Engineering, Mechanical
|Corresponding Author||Wang S(王硕)|
|Affiliation||Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China|
|First Author Affilication||Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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.
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.
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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