Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation
文献类型：期刊论文
| 作者 | Wang, Yu ; Wang, Shuo; Wei, Qingping; Tan, Min; Zhou, Chao; Yu, Junzhi; Wang S(王硕)
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2016-04-01 |
| 卷号 | 21期号:2页码:815-824 |
| 关键词 | Autonomous operation free-floating manipulation underwater manipulator UVMS |
| 通讯作者 | 王硕 |
| 英文摘要 | This paper addresses the novel design of an underwater manipulator with a lightweight multilink structure and its free-floating autonomous operation. The concept design reduces the coupling between the manipulator and the vehicle efficiently, even in the case where the vehicle weight in air is not significantly greater than the manipulator weight. The specific implementation of the mechanical structure is elaborated. Moreover, a closed-loop control system based on binocular vision is proposed for underwater manipulation. In the end, experimental results demonstrate that the conceived underwater manipulator can accomplish the autonomous operation quickly. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | INTERVENTION MISSIONS ; TRACKING CONTROL ; REDUNDANCY RESOLUTION ; MOTION CONTROL ; VEHICLE ; SYSTEMS ; AUV ; PROJECT ; ROBOT |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000372368700020 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/11382]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Wang S(王硕) |
| 作者单位 | Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Yu,Wang, Shuo,Wei, Qingping,et al. Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(2):815-824. |
| APA | Wang, Yu.,Wang, Shuo.,Wei, Qingping.,Tan, Min.,Zhou, Chao.,...&王硕.(2016).Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(2),815-824. |
| MLA | Wang, Yu,et al."Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.2(2016):815-824. |
入库方式： OAI收割
来源：自动化研究所
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