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
Department水下机器人研究室
Conference NameOCEANS 2018 MTS/IEEE Kobe
Conference DateMay 28-31, 2018
Conference PlaceKobe, Japan
Source PublicationOCEANS 2018 MTS/IEEE Kobe
PublisherIEEE
Publication PlaceNew York
2018
Pages1-5
Indexed ByEI ; CPCI(ISTP)
EI Accession number20190406415981
WOS IDWOS:000465206800173
Contribution Rank1
ISBN978-1-5386-1654-3
KeywordUnderwater autonomous manipulation Dual manipulator system Deep-sea hydraulic manipulator Visual servoing
AbstractUnderwater 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24130
Collection水下机器人研究室
Corresponding AuthorWang C(王聪); Zhang QF(张奇峰)
Affiliation1.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
Recommended Citation
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.
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