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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation
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Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation

机译：水下机械手的开发及其自由浮动的自主运行

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摘要

This paper addresses the novel design of an underwater manipulator with a lightweight multilink structure and its free-floating autonomous operation. The concept design reduces the coupling between the manipulator and the vehicle efficiently, even in the case where the vehicle weight in air is not significantly greater than the manipulator weight. The specific implementation of the mechanical structure is elaborated. Moreover, a closed-loop control system based on binocular vision is proposed for underwater manipulation. In the end, experimental results demonstrate that the conceived underwater manipulator can accomplish the autonomous operation quickly.
机译：本文介绍了具有轻量级多链接结构的水下机械手的新颖设计及其自由浮动的自主操作。该构思设计即使在空气中的车辆重量不明显大于机械手重量的情况下也有效地减小了机械手与车辆之间的联接。详细说明了机械结构的具体实现方式。此外，提出了一种基于双目视觉的闭环控制系统，用于水下操纵。最后，实验结果表明，所设想的水下机械手可以快速完成自主操作。

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