Performance and experiment of deep-sea master-slave servo electric manipulator
文献类型：会议论文
| 作者 | Bai YF(白云飞)1,2,3; Zhang QF(张奇峰)2,3 ; Tian QY(田启岩)2,3; Yan SX(阎述学)2,3; Tang YG(唐元贵)2,3; Zhang AQ(张艾群)2,3
|
| 出版日期 | 2019 |
| 会议日期 | October 27-31, 2019 |
| 会议地点 | Seattle, WA, United states |
| 关键词 | Deep-sea master-slave electric manipulator Master-slave tracking performance Viscous friction power Hydrodynamic power Underwater experiment of manipulator |
| 页码 | 1-5 |
| 其他题名 | Performance and experiment of deep-sea master-slave servo electric manipulator.pdf |
| 英文摘要 | In order to understand the underwater operation performance of the deep-sea seven-function master-slave servo electric manipulator, the master-slave tracking performance and motion power of the manipulator are analyzed and practical underwater experiments are carried out. In the aspect of master-slave tracking performance of manipulator, the delay of slave manipulator tracking is analyzed and tested under different communication connection modes between manipulator master and slave controller. In the aspect of motion power of manipulator, the power loss caused by internal filling compensation oil and hydrodynamic force are analyzed and tested. The experimental results show that different communication connection modes have a great influence on the motion delay of the slave tracking master, and the power caused by compensation oil and hydrodynamic force cannot be ignored. The analysis and experimental results of the performance of the deep-sea electric manipulator are beneficial to improve the underwater operation performance of the manipulator and reduce the loss of power. |
| 产权排序 | 1 |
| 会议录 | OCEANS 2019 MTS/IEEE Seattle
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-0-5785-7618-3 |
| WOS记录号 | WOS:000534568500053 |
| 源URL | [http://ir.sia.cn/handle/173321/26281]  |
| 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) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Institutes for Robotics and Intelligent Manufacting, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Bai YF,Zhang QF,Tian QY,et al. Performance and experiment of deep-sea master-slave servo electric manipulator[C]. 见:. Seattle, WA, United states. October 27-31, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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