SIA OpenIR  > 水下机器人研究室
Construction and research of an underwater autonomous dual manipulator platform
Wang C(王聪)1,2; Zhang QF(张奇峰)1; Zhang QC(张秋成)1,2; Zhang YX(张运修)1,2; Huo LQ(霍良青)1; Wang XH(王晓辉)1
作者部门水下机器人研究室
会议名称OCEANS 2018 MTS/IEEE Kobe
会议日期May 28-31, 2018
会议地点Kobe, Japan
会议录名称OCEANS 2018 MTS/IEEE Kobe
出版者IEEE
出版地New York
2018
页码1-5
收录类别EI
EI收录号20190406415981
产权排序1
ISBN号978-1-5386-1654-3
关键词Underwater autonomous manipulation Dual manipulator system Deep-sea hydraulic manipulator Visual servoing
摘要Underwater hydraulic manipulator with the advantages of heavy load and mature technology, is widely used in ROV and HOV, however, the autonomous operating ability of ROV or HOV’s manipulator is relatively weak. To solve this problem, in this paper, an underwater autonomous dual manipulator platform is developed which would be utilized in key technology research on underwater IMR (Inspection, Maintenance and Repair), ocean exploration and other marine applications to alleviate the operating burden and improve working efficiency. Using the same manipulator configuration as the 6000m Scientific ROV of SIA, the platform is comprised of two underwater hydraulic manipulators and has a three-axis motion base of the manipulators. Additionally, the control system is based on the ROS (Robot Operating System) and MoveIt!. This paper tends to illustrate some fundamental research of the platform, such as the system overview of the platform, modeling, motion planning in Matlab and ROS, and the computer-based control of single manipulator. © 2018 IEEE.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/24130
专题水下机器人研究室
通讯作者Wang C(王聪); Zhang QF(张奇峰)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Wang C,Zhang QF,Zhang QC,et al. Construction and research of an underwater autonomous dual manipulator platform[C]. New York:IEEE,2018:1-5.
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
Construction and res(952KB)会议论文 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
[Wang C(王聪)]的文章
[Zhang QF(张奇峰)]的文章
[Zhang QC(张秋成)]的文章
百度学术
百度学术中相似的文章
[Wang C(王聪)]的文章
[Zhang QF(张奇峰)]的文章
[Zhang QC(张秋成)]的文章
必应学术
必应学术中相似的文章
[Wang C(王聪)]的文章
[Zhang QF(张奇峰)]的文章
[Zhang QC(张秋成)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Construction and research of an underwater autonomous dual manipulator platform.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。