SIA OpenIR  > 水下机器人研究室
Experiment research on control performance for the actuators of a deep-sea hydraulic manipulator
Zhang YX(张运修); Zhang QF(张奇峰); Zhang AQ(张艾群); Cui SG(崔胜国); Du LS(杜林森); Huo LQ(霍良青)
作者部门水下机器人研究室
会议名称OCEANS 2016 MTS/IEEE Monterey
会议日期September 19-23, 2016
会议地点Monterey, Canada
会议录名称OCEANS 2016 MTS/IEEE Monterey
出版者IEEE
出版地New York
2016
页码1-6
收录类别EI ; CPCI(ISTP)
EI收录号20165203178455
WOS记录号WOS:000399929000106
产权排序1
ISBN号978-1-5090-1527-6
关键词Deep-sea Hydraulic Manipulator Master-slave Servo Control Hierarchical Control Control Performance Test Different High Pressure
摘要A greater control performance of underwater slave arm actuator modules could improve the efficiency and accuracy of the whole master-slave manipulator system. In this paper, the development of the 7-function manipulator can be used in 7000m depth is introduced firstly, and then a hierarchical control scheme is researched to control the manipulator system. The information passed to the lower control system is usually only a higher level decision command, so the hydraulic actuators of the slave arm must be capable of following the command to complete complex tasks in different depth rating underwater environment. In order to ensure the operation reliability of the manipulator, the control performance of the hydraulic actuators of the manipulator has been emphatically verified through on-line pressure experiments in this paper, and the results are reported in detail. Meanwhile, more experiments around the manipulator are researched in this paper.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19692
专题水下机器人研究室
通讯作者Zhang YX(张运修)
作者单位1.Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Zhang YX,Zhang QF,Zhang AQ,et al. Experiment research on control performance for the actuators of a deep-sea hydraulic manipulator[C]. New York:IEEE,2016:1-6.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Experiment research (3928KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Zhang YX(张运修)]的文章
[Zhang QF(张奇峰)]的文章
[Zhang AQ(张艾群)]的文章
百度学术
百度学术中相似的文章
[Zhang YX(张运修)]的文章
[Zhang QF(张奇峰)]的文章
[Zhang AQ(张艾群)]的文章
必应学术
必应学术中相似的文章
[Zhang YX(张运修)]的文章
[Zhang QF(张奇峰)]的文章
[Zhang AQ(张艾群)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Experiment research on control performance for the actuators of a deep-sea hydraulic manipulator.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。