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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)
Department水下机器人研究室
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1126-1131
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187740
WOS IDWOS:000380502300209
Contribution Rank1
ISSN2379-7711
ISBN978-1-4799-8730-6
KeywordVirtual Platform Manned Submersible Vehicle Underwater Manipulator Underwater Operations Teleoperation
AbstractIn 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.
Language英语
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17672
Collection水下机器人研究室
Corresponding AuthorLi W(李伟)
Affiliation1.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
Recommended Citation
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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