Study of manipulator operations maneuvered by a ROV in virtual environments

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋机器人卓越创新中心

	Study of manipulator operations maneuvered by a ROV in virtual environments
	Yu JC(俞建成); Zhang J(张进); Li W(李伟); Feng XS(封锡盛); Zhang QF(张奇峰); Chen, Genshe
刊名	Ocean Engineering
	2017
卷号	142 页码:292-302
关键词	Autonomous operation Remote operation Underwater manipulator operations Virtual ROV
ISSN号	0029-8018
通讯作者	Li W(李伟)
产权排序	1
中文摘要	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.
WOS标题词	Science & Technology ; Technology ; Physical Sciences
类目[WOS]	Engineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography
研究领域[WOS]	Engineering ; Oceanography
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000410010700027
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/20802]
专题	海洋机器人卓越创新中心
作者单位	1.Department of Computer & Electrical Engineering and Computer Science, California State University, Bakersfield, CA, 93311, United States 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Robotics State Key Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 4.Intelligent Fusion Technology, Inc, Germantown, MD, 20876, United States
推荐引用方式 GB/T 7714	Yu JC,Zhang J,Li W,et al. Study of manipulator operations maneuvered by a ROV in virtual environments[J]. Ocean Engineering,2017,142:292-302.
APA	Yu JC,Zhang J,Li W,Feng XS,Zhang QF,&Chen, Genshe.(2017).Study of manipulator operations maneuvered by a ROV in virtual environments.Ocean Engineering,142,292-302.
MLA	Yu JC,et al."Study of manipulator operations maneuvered by a ROV in virtual environments".Ocean Engineering 142(2017):292-302.