Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System | |
Cai, Mingxue2; Wang, Yu2; Wang, Shuo2; Wang, Rui2; Ren, Yong1; Tan, Min2 | |
刊名 | IEEE Transactions on Automation Science and Engineering |
2020 | |
卷号 | 17期号:无页码:无 |
关键词 | Hybrid-driven Underwater Vehicle-manipulator System (Hd-uvms) Robot Control System Underwater Manipulation |
ISSN号 | 1545-5955 |
DOI | 10.1109/TASE.2019.2957782 |
英文摘要 | This article presents the comprehensive framework for a hybrid-driven underwater vehicle-manipulator system (HD-UVMS) to grasp marine products on the seabed. The purpose of the proposed hybrid-driven propulsion system is to improve the swimming ability of the HD-UVMS by using thrusters and enhance the stability of its pose adjustment mechanism via two unique long fin propulsors. The control mode for the thrusters and long fin propulsors is based on a fuzzy logic control method. Subsequently, a lightweight manipulator is developed to grasp marine products. The open-closed angle and current controls for the gripper help to avoid damaging marine products. A vision system is installed to enable the HD-UVMS to gradually approach marine products with the aid of monocular vision and grasp them with the aid of binocular vision. A detailed method for monocular passive ranging and stereo matching, in accordance with real-time metrics, is elaborated. Finally, relevant experiments are conducted in an indoor pool and under real sea condition to assess the effectiveness of the proposed framework. |
学科主题 | 工学 |
URL标识 | 查看原文 |
电子版国际标准刊号 | 1558-3783 |
出版地 | IEEE Transactions on Automation Science and Engineering |
资助项目 | National Natural Science Foundation of China[61703401] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[U1913209] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; Beijing Municipal Natural Science Foundation[JQ19020] ; Youth Innovation Promotion Association, Chinese Academy of Sciences |
WOS关键词 | CLOUDS ; ROBOT |
WOS研究方向 | Automation & Control Systems |
语种 | 英语 |
出版者 | IEEE |
WOS记录号 | WOS:000545379200029 |
资助机构 | National Natural Science Foundation of China ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China ; Beijing Municipal Natural Science Foundation ; Youth Innovation Promotion Association, Chinese Academy of Sciences |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/38545] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
通讯作者 | Wang, Yu |
作者单位 | 1.Department of Electronic Engineering, Tsinghua University 2.Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Cai, Mingxue,Wang, Yu,Wang, Shuo,et al. Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System[J]. IEEE Transactions on Automation Science and Engineering,2020,17(无):无. |
APA | Cai, Mingxue,Wang, Yu,Wang, Shuo,Wang, Rui,Ren, Yong,&Tan, Min.(2020).Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System.IEEE Transactions on Automation Science and Engineering,17(无),无. |
MLA | Cai, Mingxue,et al."Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System".IEEE Transactions on Automation Science and Engineering 17.无(2020):无. |
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