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Virtual platform of a manned submersible vehicle carrying an underwater manipulator
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
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1126-1131
收录类别EI ; CPCI(ISTP)
EI收录号20161402187740
WOS记录号WOS:000380502300209
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17672
专题水下机器人研究室
通讯作者Li W(李伟)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Computer and Electrical Engineering and Science, California State University, Bakersfield, CA, United States
4.School of Electrical Engineering and Automation, Tianjin University, Tianjin, China
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GB/T 7714
Zhang J,Li W,Yu JC,et al. Virtual platform of a manned submersible vehicle carrying an underwater manipulator[C]. Piscataway, NJ, USA:IEEE,2015:1126-1131.
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