Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification
Tang, Chong1,2; Wang, Yu1; Wang, Shuo1,2; Wang, Rui1,2; Tan, Min1
2018-06-01
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷号65期号:6页码:4861-4870
文章类型Article
摘要This paper addresses the achievement of floating autonomous manipulation of the underwater biomimetic vehicle-manipulator system (UBVMS). A practical vehicle-manipulator coordinated plan and control methodology of the UBVMS for autonomous interventions are designed. First, the system configuration is introduced, and the optimal work space is confirmed. Then, the control framework of the UBVMS mainly consisting of online motion planning, multitask kinematic control, dynamic feedforward compensation, and adaptive parameter undulatory control for autonomous manipulation is presented. The online motion planning method with resort to tracking differentiator is developed to produce desired task trajectory and reference rate. The singularity-robust multitask kinematic control algorithm with state observers is designed to obtain system reference velocity. The couple influence on the vehicle induced by the presence of the manipulator is described as the dynamic feedforward compensation signal to reduce undesired waggle of the UBVMS. Adaptive parameter modifier of the biomimetic propulsor is designed to satisfy multifarious performance requirements in different motion phases. Finally, pool experiments in multiple scenarios for autonomous grasping manipulation are conducted to verify the effectiveness and adaptability of the developed coordinated plan and control strategy.
关键词Autonomous Underwater Manipulation Autonomous Vehicles Unmanned Underwater Vehicles
WOS标题词Science & Technology ; Technology
DOI10.1109/TIE.2017.2772148
关键词[WOS]INTERVENTION MISSIONS ; PROJECT ; AUV
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61773378 ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; 61703401 ; 61333016)
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号WOS:000425618900042
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21717
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714
Tang, Chong,Wang, Yu,Wang, Shuo,et al. Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(6):4861-4870.
APA Tang, Chong,Wang, Yu,Wang, Shuo,Wang, Rui,&Tan, Min.(2018).Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(6),4861-4870.
MLA Tang, Chong,et al."Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.6(2018):4861-4870.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Floating Autonomous (1540KB)期刊论文作者接受稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Tang, Chong]的文章
[Wang, Yu]的文章
[Wang, Shuo]的文章
百度学术
百度学术中相似的文章
[Tang, Chong]的文章
[Wang, Yu]的文章
[Wang, Shuo]的文章
必应学术
必应学术中相似的文章
[Tang, Chong]的文章
[Wang, Yu]的文章
[Wang, Shuo]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System Methodology and Verification.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。