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Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System
Cai, Mingxue1; Wang, Yu1; Wang, Shuo1; Wang, Rui1; Ren, Yong2; Tan, Min1
Source PublicationIEEE Transactions on Automation Science and Engineering
ISSN1545-5955
2020
Volume17Issue:Pages:
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
WOS KeywordCLOUDS ; ROBOT
URL查看原文
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61703401] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[U1913209] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; Beijing Municipal Natural Science Foundation[JQ19020] ; Youth Innovation Promotion Association, Chinese Academy of Sciences
Funding OrganizationNational Natural Science Foundation of China ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China ; Beijing Municipal Natural Science Foundation ; Youth Innovation Promotion Association, Chinese Academy of Sciences
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000545379200029
PublisherIEEE
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
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 AuthorWang, Yu
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
Cai, Mingxue,Wang, Yu,Wang, Shuo,et al. Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System[J]. IEEE Transactions on Automation Science and Engineering,2020,17(无):无.
APA Cai, Mingxue,Wang, Yu,Wang, Shuo,Wang, Rui,Ren, Yong,&Tan, Min.(2020).Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System.IEEE Transactions on Automation Science and Engineering,17(无),无.
MLA Cai, Mingxue,et al."Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System".IEEE Transactions on Automation Science and Engineering 17.无(2020):无.
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