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题名: Virtual platform of a manned submersible vehicle carrying an underwater manipulator
作者: Zhang J(张进); Li W(李伟); Yu JC(俞建成); Li Y(李岩); Li S(李硕); Huo LQ(霍良青); Liu KZ(刘开周); Chen ZE(陈质二)
作者部门: 水下机器人研究室
会议名称: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期: June 8-12, 2015
会议地点: Shenyang, China
会议录: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1126-1131
收录类别: EI ; CPCI(ISTP)
ISSN号: 2379-7711
ISBN号: 978-1-4799-8730-6
关键词: Virtual Platform ; Manned Submersible Vehicle ; Underwater Manipulator ; Underwater Operations ; Teleoperation
摘要: In this paper, we develop a virtual platform of a manned submersible vehicle carrying an underwater manipulator to animate operation tasks under the deep sea. The models of the vehicle and the manipulator refer to the structures of the 鈥淛iaolong鈥?deep manned submersible vehicle and a master-slave servo hydraulic manipulator, respectively. The master-slave manipulator with 7 functions developed by Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, is able to perform operation tasks below the ocean's surface 7000 meters. The platform is a powerful multi-purpose tool: First, it can be used for training an operator to telepresence operate the virtual manipulator to complete basic tasks under the deep sea by coordinating a cradle head, the manned submersible vehicle and the underwater manipulator; Second, it can be used to test or to validate motion control methods for operating the submersible and manipulator. In order to demonstrate the feasibility and effectiveness of the virtual platform, we present two typical underwater operation tasks: picking-up a rock sample and making a mark.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380502300209
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17672
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Zhang J,Li W,Yu JC,et al. Virtual platform of a manned submersible vehicle carrying an underwater manipulator[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.
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