Virtual Platform of a Remotely Operated Vehicle

被引：0

作者：

Zhang, Jin ^{[1
,2
]}

Li, Wei ^{[1
,3
]}

Yu, Jiancheng ^{[1
]}

Li, Yan ^{[1
]}

Li, Shuo ^{[1
]}

Chen, Genshe ^{[4
]}

机构：

[1] Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Peoples R China

[2] Univ Chinese Acad Sci, Beijing, Peoples R China

[3] Calif State Univ Bakersfield, Bakersfield, CA USA

[4] I Fus Technol Inc, Germantown, MD 20874 USA

来源：

OCEANS 2015 - MTS/IEEE WASHINGTON | 2015年

关键词：

Virtual Platform; ROV; Underwater Manipulator with Seven Functions; Underwater Operations;

D O I：

暂无

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

A remotely operated vehicle (ROV) carrying an underwater manipulator plays an important role in underwater operations. In this paper, we develop a virtual platform of a ROV to animate operation tasks under the sea. The ROV model refers to the structure of a typical ROV which performs operation tasks below the ocean's surface 1000 meters and the manipulator model refers to a master-slave servo hydraulic manipulator with seven functions developed by Shenyang Institute of Automation (SIA), Chinese Academy of Sciences. The virtual platform is used for training an operator to teleoperate the ROV under the sea by coordinating a pan-tilt camera, the ROV main body, and the underwater manipulator. In order to demonstrate the feasibility and effectiveness of the virtual platform, we present two typical underwater operation tasks: maintaining a subsea platform and clearing a tethered mine.

引用

页数：5

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