Research on autonomous grasping of an UVMS with model-known object based on monocular visual system

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Research on autonomous grasping of an UVMS with model-known object based on monocular visual system
	Zhang QF(张奇峰); Gong PL(公丕亮); Quan WC(全伟才); Zhang AQ(张艾群)
	2010
会议名称	20th International Offshore and Polar Engineering Conference, ISOPE-2010
会议日期	June 20-25, 2010
会议地点	Beijing, China
关键词	Control system synthesis Manipulators Submersibles Vision Water craft
页码	282-286
中文摘要	This paper has proposed a method of grasping a model-known object autonomously for an Underwater Vehicle-Manipulator System (UVMS) using monocular vision. The distance between the vehicle and the object is estimated by extracting the pixel radius of the ball-like object, and the vehicle's depth and orientation angle are used to keep the vehicle's station while the manipulator is performing the grasping actions. Other key techniques, including station keeping and grasping strategy, thrust allocation and vehicle control are also presented. Pool experiments demonstrate the validity and practicability of the method.
收录类别	EI
产权排序	1
会议主办者	International Society of Offshore and Polar Engineers (ISOPE); China National Offshore Oil Corporation (CNOOC); SK Energy
会议录	Proceedings of the International Offshore and Polar Engineering Conference
会议录出版者	International Society of Offshore and Polar Engineers
会议录出版地	Cupertino, CA
语种	英语
ISSN号	1098-6189
ISBN号	978-1-88065-377-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7838]
专题	沈阳自动化研究所_水下机器人研究室沈阳自动化研究所_海洋信息技术装备中心
推荐引用方式 GB/T 7714	Zhang QF,Gong PL,Quan WC,et al. Research on autonomous grasping of an UVMS with model-known object based on monocular visual system[C]. 见:20th International Offshore and Polar Engineering Conference, ISOPE-2010. Beijing, China. June 20-25, 2010.