Construction and research of an underwater autonomous dual manipulator platform
文献类型：会议论文
| 作者 | Zhang QC(张秋成)1,2; Zhang QF(张奇峰)1 ; Wang C(王聪)1,2; Huo LQ(霍良青)1; Zhang YX(张运修)1,2; Wang XH(王晓辉)1
|
| 出版日期 | 2018 |
| 会议日期 | May 28-31, 2018 |
| 会议地点 | Kobe, Japan |
| 关键词 | Underwater autonomous manipulation Dual manipulator system Deep-sea hydraulic manipulator Visual servoing |
| 页码 | 1-5 |
| 英文摘要 | 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. |
| 产权排序 | 1 |
| 会议录 | OCEANS 2018 MTS/IEEE Kobe
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-1654-3 |
| 源URL | [http://ir.sia.cn/handle/173321/24130]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Zhang QF(张奇峰); Wang C(王聪) |
| 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 | Zhang QC,Zhang QF,Wang C,et al. Construction and research of an underwater autonomous dual manipulator platform[C]. 见:. Kobe, Japan. May 28-31, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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