CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System
Mingxue Cai1; Yu Wang1; Shuo Wang1; Rui Wang1; Yong Ren2; Min Tan1
Source PublicationIEEE Transactions on Automation Science and Engineering
ISSN1545-5955
2020
IssuePages:
Abstract

This article presents the comprehensive framework for a hybrid-driven underwater vehicle-manipulator system (HD-UVMS) to grasp marine products on the seabed. The purpose of the proposed hybrid-driven propulsion system is to improve the swimming ability of the HD-UVMS by using thrusters and enhance the stability of its pose adjustment mechanism via two unique long fin propulsors. The control mode for the thrusters and long fin propulsors is based on a fuzzy logic control method. Subsequently, a lightweight manipulator is developed to grasp marine products. The open-closed angle and current controls for the gripper help to avoid damaging marine products. A vision system is installed to enable the HD-UVMS to gradually approach marine products with the aid of monocular vision and grasp them with the aid of binocular vision. A detailed method for monocular passive ranging and stereo matching, in accordance with real-time metrics, is elaborated. Finally, relevant experiments are conducted in an indoor pool and under real sea condition to assess the effectiveness of the proposed framework.

KeywordHybrid-driven Underwater Vehicle-manipulator System (Hd-uvms) Robot Control System Underwater Manipulation
Subject Area工学
MOST Discipline Catalogue控制科学与工程
DOI10.1109/TASE.2019.2957782
URL查看原文
Indexed BySCI
Language英语
PublisherIEEE
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/38545
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu Wang
Affiliation1.Institute of Automation, Chinese Academy of Sciences
2.Department of Electronic Engineering, Tsinghua University
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Mingxue Cai,Yu Wang,Shuo Wang,et al. Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System[J]. IEEE Transactions on Automation Science and Engineering,2020(无):无.
APA Mingxue Cai,Yu Wang,Shuo Wang,Rui Wang,Yong Ren,&Min Tan.(2020).Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System.IEEE Transactions on Automation Science and Engineering(无),无.
MLA Mingxue Cai,et al."Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System".IEEE Transactions on Automation Science and Engineering .无(2020):无.
Files in This Item: Download All
File Name/Size DocType Version Access License
Grasping Marine Prod(5519KB)期刊 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Mingxue Cai]'s Articles
[Yu Wang]'s Articles
[Shuo Wang]'s Articles
Baidu academic
Similar articles in Baidu academic
[Mingxue Cai]'s Articles
[Yu Wang]'s Articles
[Shuo Wang]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Mingxue Cai]'s Articles
[Yu Wang]'s Articles
[Shuo Wang]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.