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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 PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2016-04-01
Volume21Issue:2Pages:815-824
SubtypeArticle
AbstractThis 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.
KeywordAutonomous Operation Free-floating Manipulation Underwater Manipulator Uvms
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TMECH.2015.2494068
WOS KeywordINTERVENTION MISSIONS ; TRACKING CONTROL ; REDUNDANCY RESOLUTION ; MOTION CONTROL ; VEHICLE ; SYSTEMS ; AUV ; PROJECT ; ROBOT
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000372368700020
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11382
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang S(王硕)
AffiliationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
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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