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Research on Autonomous Grasping Control of Underwater Manipulator Based on Visual Servo
Zhang ZY(张子扬)1,2,3; Wang C(王聪)2,3; Zhang QF(张奇峰)2,3; Li YP(李一平)2,3; Feng XS(封锡盛)2,3; Wang Y(王永)1
Department水下机器人研究室
Conference Name2019 Chinese Automation Congress, CAC 2019
Conference DateNovember 22-24, 2019
Conference PlaceHangzhou, China
Source PublicationProceedings - 2019 Chinese Automation Congress, CAC 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages2904-2910
Indexed ByEI
EI Accession number20201008253911
Contribution Rank1
ISBN978-1-7281-4094-0
Keywordunderwater manipulator monocular visual servo underwater autonomous operation ArUco
AbstractTo address the problem associated with the low efficiency and intelligence level of underwater master-slave operation method, a grasping control method of underwater manipulator, on the basis of monocular vision servo, is proposed to improve the autonomous capability of underwater operation. Typical underwater objects can be grasped accurately and quickly. Firstly, ArUco marker is used to obtain accurate position information at a high rate of speed, attitude information is also calculated based on the shape and color of target in key frames from video stream at the same time. Grasping method is adopted automatically according to specific position and attitude of the target. Experiments are carried out with the 7-function underwater hydraulic manipulator developed by Shenyang Institute of Automation, Chinese Academy of Sciences. The manipulator is programmed to grasp the object automatically based on visual servo and place it to the appointed position. Both land and underwater experiments validated that the adopted control method of manipulator in this paper meets the actual needs of underwater operation.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26412
Collection水下机器人研究室
Corresponding AuthorWang Y(王永)
Affiliation1.University of Science and Technology of China, Department of Automation, Hefei 230026, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
Recommended Citation
GB/T 7714
Zhang ZY,Wang C,Zhang QF,et al. Research on Autonomous Grasping Control of Underwater Manipulator Based on Visual Servo[C]. New York:IEEE,2019:2904-2910.
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