Experiment research on control performance for the actuators of a deep-sea hydraulic manipulator
文献类型：会议论文
| 作者 | Zhang YX(张运修) ; Zhang QF(张奇峰); Zhang AQ(张艾群); Cui SG(崔胜国); Du LS(杜林森); Huo LQ(霍良青)
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| 出版日期 | 2016 |
| 会议名称 | OCEANS 2016 MTS/IEEE Monterey |
| 会议日期 | September 19-23, 2016 |
| 会议地点 | Monterey, Canada |
| 关键词 | Deep-sea hydraulic manipulator Master-slave servo control Hierarchical control Control performance test Different high pressure |
| 页码 | 1-6 |
| 通讯作者 | 张运修 |
| 中文摘要 | A greater control performance of underwater slave arm actuator modules could improve the efficiency and accuracy of the whole master-slave manipulator system. In this paper, the development of the 7-function manipulator can be used in 7000m depth is introduced firstly, and then a hierarchical control scheme is researched to control the manipulator system. The information passed to the lower control system is usually only a higher level decision command, so the hydraulic actuators of the slave arm must be capable of following the command to complete complex tasks in different depth rating underwater environment. In order to ensure the operation reliability of the manipulator, the control performance of the hydraulic actuators of the manipulator has been emphatically verified through on-line pressure experiments in this paper, and the results are reported in detail. Meanwhile, more experiments around the manipulator are researched in this paper. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | OCEANS 2016 MTS/IEEE Monterey
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-1527-6 |
| 源URL | [http://ir.sia.cn/handle/173321/19692]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Zhang YX,Zhang QF,Zhang AQ,et al. Experiment research on control performance for the actuators of a deep-sea hydraulic manipulator[C]. 见:OCEANS 2016 MTS/IEEE Monterey. Monterey, Canada. September 19-23, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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