Integrated Experiment Research on Motion Planning and Control of an Autonomous Underwater Vehicle-Manipulator System
文献类型：会议论文
| 作者 | Zhang QF(张奇峰) ; Wu BJ(吴宝举); Tang YG(唐元贵); Ren SZ(任申真); Zhang AQ(张艾群)
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| 出版日期 | 2009 |
| 会议名称 | Sixth International Symposium on Underwater Technology |
| 会议日期 | April 21-24, 2009 |
| 会议地点 | Wuxi, China |
| 关键词 | Autonomous Underwater Vehicle (AUV) underwater vehicle manipulator system (UVMS) motion planning and control |
| 页码 | 67-70 |
| 中文摘要 | An autonomous underwater vehicle-manipulator system (UVMS) is developed, and the system's control output characteristic with on-line and off-line motion planning is analyzed through pool experiments. Due to the deficiency of control output, strategies of combining on-line and offline motion planning and using manipulator's on-line motion as compensation are proposed. With the strategies, problem caused by response difference of UVMS is overcome to a certain extent, and the manipulator's end trajectory tracking precision is improved. Experiment results demonstrate effectiveness of the proposed method. |
| 产权排序 | 1 |
| 会议录 | Proceedings of the Sixth International Symposium on Underwater Technology
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| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/7821]  |
| 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 QF,Wu BJ,Tang YG,et al. Integrated Experiment Research on Motion Planning and Control of an Autonomous Underwater Vehicle-Manipulator System[C]. 见:Sixth International Symposium on Underwater Technology. Wuxi, China. April 21-24, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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