Kinematics Analysis of a 4-DOF Underwater Manipulator Installed on the Vehicle

被引：0
作者：
Wang, Yu [1 ]
Wang, Shuo [1 ]
Zhou, Chao [1 ]
Tan, Min [1 ]
机构：
[1] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2016年
基金：
中国国家自然科学基金; 北京市自然科学基金;
关键词：
MOTION CONTROL;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The paper addresses kinematics analysis of a 4-DOF underwater manipulator, which can be installed on an Underwater Vehicle-Manipulator System (UVMS). First, the kinematic model of the manipulator is built. Next, the computation for the centers of weight and buoyancy is provided for the analysis of the coupling between the vehicle and the manipulator. Then the calibration including camera calibration and hand-eye calibration for its free-floating manipulation is introduced. Finally, experimental results of autonomous manipulation are given to deduce the kinematics characteristic of the underwater manipulator.
引用
收藏
页码：993 / 998
页数：6
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