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Study of manipulator operations maneuvered by a ROV in virtual environments
Zhang J(张进); Li W(李伟); Yu JC(俞建成); Feng XS(封锡盛); Zhang QF(张奇峰); Chen, Genshe
作者部门海洋机器人卓越创新中心
关键词Autonomous Operation Remote Operation Underwater Manipulator Operations Virtual Rov
发表期刊Ocean Engineering
ISSN0029-8018
2017
卷号142页码:292-302
收录类别SCI ; EI
EI收录号20172803933606
WOS记录号WOS:000410010700027
产权排序1
资助机构The Key Research Project of Frontier Science, Chinese Academy of Sciences (Grant No. QYZDY-SSW-JSC005), by The National Key Research and Development Program of China (Grant No. 2016YFC0300801), and by The National Natural Science Foundation of China (Grant No. 61473207 and 61233013).
摘要It is extremely difficult to operate an underwater manipulator carried on a remotely operated vehicle (ROV) in the deep sea. In order to investigate underwater manipulator operations maneuvered by a remotely operated vehicle (ROV), this paper develops a virtual underwater manipulator and its carrier, the ROV, via the three-dimensional simulator “Webots” to animate operational tasks. The ROV model refers to the structure of a typical ROV which operates below the ocean's surface down to 1000 m, while the graphical and kinematic 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 for manipulations. This study uses the virtual platform to challenge an operator to conduct different tasks by using the manipulator, including two switch-based and one master arm-based operation, and combined by remote and autonomous operations. When conducting the operations, we have considered uncertain external disturbances that stem from subsea environments. In order to demonstrate the feasibility and effectiveness of the virtual platform, we have designed two typical underwater operational tasks for training the operator: grasping a machine part in a basket, and making a circle at a specified position on the seabed. The tasks are completed by coordinating the underwater manipulator, the submersible vehicle, and a pan-tilt camera. Three operators were invited for the training operations, and their operating results are presented.
语种英语
WOS标题词Science & Technology ; Technology ; Physical Sciences
WOS类目Engineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography
WOS研究方向Engineering ; Oceanography
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20802
专题海洋机器人卓越创新中心
通讯作者Li W(李伟)
作者单位1.Robotics State Key Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Department of Computer & Electrical Engineering and Computer Science, California State University, Bakersfield, CA, 93311, United States
4.Intelligent Fusion Technology, Inc, Germantown, MD, 20876, United States
推荐引用方式
GB/T 7714
Zhang J,Li W,Yu JC,et al. Study of manipulator operations maneuvered by a ROV in virtual environments[J]. Ocean Engineering,2017,142:292-302.
APA Zhang J,Li W,Yu JC,Feng XS,Zhang QF,&Chen, Genshe.(2017).Study of manipulator operations maneuvered by a ROV in virtual environments.Ocean Engineering,142,292-302.
MLA Zhang J,et al."Study of manipulator operations maneuvered by a ROV in virtual environments".Ocean Engineering 142(2017):292-302.
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