Research on Autonomous Grasping Control of Underwater Manipulator Based on Visual Servo

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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)1,2; Zhang QF(张奇峰)1,2; Li YP(李一平)1,2; Feng XS(封锡盛)1,2; Wang Y(王永)3
	2019
会议日期	November 22-24, 2019
会议地点	Hangzhou, China
关键词	underwater manipulator monocular visual servo underwater autonomous operation ArUco
页码	2904-2910
英文摘要	To 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.
产权排序	1
会议录	Proceedings - 2019 Chinese Automation Congress, CAC 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-4094-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26412]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Wang Y(王永)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China 3.University of Science and Technology of China, Department of Automation, Hefei 230026, China
推荐引用方式 GB/T 7714	Zhang ZY,Wang C,Zhang QF,et al. Research on Autonomous Grasping Control of Underwater Manipulator Based on Visual Servo[C]. 见:. Hangzhou, China. November 22-24, 2019.