Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

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

	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
刊名	IEEE Transactions on Industrial Electronics
	2017
卷号	64 期号:2 页码:1716-1727
ISSN号	0278-0046
通讯作者	张进
产权排序	1
中文摘要	This 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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
研究领域[WOS]	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
关键词[WOS]	DESIGN ; TELEOPERATION ; INTERFACE ; SYSTEM
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000395826100088
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/19711]
专题	海洋机器人卓越创新中心
推荐引用方式 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.