Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle
文献类型：期刊论文
| 作者 | Zhang J(张进) ; Li W(李伟); Yu JC(俞建成); Zhang QF(张奇峰); Cui SG(崔胜国); Li Y(李岩); Li S(李硕); Chen, Genshe
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| 刊名 | IEEE Transactions on Industrial Electronics
 |
| 出版日期 | 2017 |
| 卷号 | 64期号:2页码:1716-1727 |
| ISSN号 | 0278-0046 |
| 产权排序 | 1 |
| 英文摘要 | This paper develops a virtual platform of an underwater manipulator mounted on a submersible vehicle via the three-dimensional simulator “Webots” for teleoperation through a replica master arm. The graphical, kinematic and dynamic models of the manipulator refer to a master-slave servo hydraulic manipulator with 7 functions, consisting of six degrees of freedom (DOFs) and a parallel gripper, while the “Jiaolong” deep manned submersible vehicle, operating below the sea surface down to 7000 meters, is chosen as the underwater manipulator carrier. This study uses the virtual platform for training an operator to telepresence control the virtual manipulator to complete basic tasks in subsea environments. When training the operator, one has to consider uncertain external disturbances and the visual impacts that stem from subsea environments. In order to demonstrate the feasibility and effectiveness of the virtual platform, one designs two typical underwater operational tasks: grasping a marine organism sample, and reaching at a given position. This paper presents the comparative studies: 1. The performances demonstrated by remotely controlling the virtual manipulator and the real manipulator; 2. The operating performances delivered by three operators before and after training when using the platform. |
| WOS关键词 | DESIGN ; TELEOPERATION ; INTERFACE ; SYSTEM |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000395826100088 |
| 源URL | [http://ir.sia.cn/handle/173321/19711]  |
| 专题 | 海洋机器人卓越创新中心 |
| 通讯作者 | Zhang J(张进) |
| 作者单位 | 1.University of the Chinese Academy of Sciences, Beijing 100049, China 2.Robotics State Key Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Department of Computer and Electrical Engineering and Computer Science, California State University, Bakersfield, CA, 93311, United States 4.School of Electrical Engineering and Automation, Tianjin University, Tianjin, 300072, China 5.Intelligent Fusion Technology Inc., Germantown, MD, 20876, United States |
| 推荐引用方式 GB/T 7714 | Zhang J,Li W,Yu JC,et al. Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle[J]. IEEE Transactions on Industrial Electronics,2017,64(2):1716-1727. |
| APA | Zhang J.,Li W.,Yu JC.,Zhang QF.,Cui SG.,...&Chen, Genshe.(2017).Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle.IEEE Transactions on Industrial Electronics,64(2),1716-1727. |
| MLA | Zhang J,et al."Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle".IEEE Transactions on Industrial Electronics 64.2(2017):1716-1727. |
入库方式： OAI收割
来源：沈阳自动化研究所
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