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Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle
Zhang J(张进); Li W(李伟); Yu JC(俞建成); Zhang QF(张奇峰); Cui SG(崔胜国); Li Y(李岩); Li S(李硕); Chen, Genshe
Department海洋机器人卓越创新中心
Source PublicationIEEE Transactions on Industrial Electronics
ISSN0278-0046
2017
Volume64Issue:2Pages:1716-1727
Indexed BySCI ; EI
EI Accession number20171103451680
WOS IDWOS:000395826100088
Contribution Rank1
AbstractThis paper develops a virtual platform of an underwater manipulator mounted on a submersible vehicle via the three-dimensional simulator “Webots” for teleoperation through a replica master arm. The graphical, kinematic and dynamic models of the manipulator refer to a master-slave servo hydraulic manipulator with 7 functions, consisting of six degrees of freedom (DOFs) and a parallel gripper, while the “Jiaolong” deep manned submersible vehicle, operating below the sea surface down to 7000 meters, is chosen as the underwater manipulator carrier. This study uses the virtual platform for training an operator to telepresence control the virtual manipulator to complete basic tasks in subsea environments. When training the operator, one has to consider uncertain external disturbances and the visual impacts that stem from subsea environments. In order to demonstrate the feasibility and effectiveness of the virtual platform, one designs two typical underwater operational tasks: grasping a marine organism sample, and reaching at a given position. This paper presents the comparative studies: 1. The performances demonstrated by remotely controlling the virtual manipulator and the real manipulator; 2. The operating performances delivered by three operators before and after training when using the platform.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS KeywordDESIGN ; TELEOPERATION ; INTERFACE ; SYSTEM
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19711
Collection海洋机器人卓越创新中心
Corresponding AuthorZhang J(张进)
Affiliation1.Robotics State Key Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of the Chinese Academy of Sciences, Beijing 100049, China
3.Department of Computer and Electrical Engineering and Computer Science, California State University, Bakersfield, CA, 93311, United States
4.School of Electrical Engineering and Automation, Tianjin University, Tianjin, 300072, China
5.Intelligent Fusion Technology Inc., Germantown, MD, 20876, United States
Recommended Citation
GB/T 7714
Zhang J,Li W,Yu JC,et al. Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle[J]. IEEE Transactions on Industrial Electronics,2017,64(2):1716-1727.
APA Zhang J.,Li W.,Yu JC.,Zhang QF.,Cui SG.,...&Chen, Genshe.(2017).Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle.IEEE Transactions on Industrial Electronics,64(2),1716-1727.
MLA Zhang J,et al."Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle".IEEE Transactions on Industrial Electronics 64.2(2017):1716-1727.
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