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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)
Department水下机器人研究室
Conference NameOCEANS 2016 MTS/IEEE Monterey
Conference DateSeptember 19-23, 2016
Conference PlaceMonterey, Canada
Source PublicationOCEANS 2016 MTS/IEEE Monterey
PublisherIEEE
Publication PlaceNew York
2016
Pages1-6
Indexed ByEI ; CPCI(ISTP)
EI Accession number20165203178455
WOS IDWOS:000399929000106
Contribution Rank1
ISBN978-1-5090-1527-6
KeywordDeep-sea Hydraulic Manipulator Master-slave Servo Control Hierarchical Control Control Performance Test Different High Pressure
AbstractA 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19692
Collection水下机器人研究室
Corresponding AuthorZhang YX(张运修)
Affiliation1.Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
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.
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