Performance and experiment of deep-sea master-slave servo electric manipulator

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

	Performance and experiment of deep-sea master-slave servo electric manipulator
	Bai YF(白云飞)1,2,3; Zhang QF(张奇峰)1,2; Tian QY(田启岩)1,2; Yan SX(阎述学)1,2; Tang YG(唐元贵)1,2; Zhang AQ(张艾群)1,2
	2019
会议日期	October 27-31, 2019
会议地点	Seattle, WA, United states
关键词	Deep-sea master-slave electric manipulator Master-slave tracking performance Viscous friction power Hydrodynamic power Underwater experiment of manipulator
其他题名	Performance and experiment of deep-sea master-slave servo electric manipulator.pdf
页码	1-5
英文摘要	In order to understand the underwater operation performance of the deep-sea seven-function master-slave servo electric manipulator, the master-slave tracking performance and motion power of the manipulator are analyzed and practical underwater experiments are carried out. In the aspect of master-slave tracking performance of manipulator, the delay of slave manipulator tracking is analyzed and tested under different communication connection modes between manipulator master and slave controller. In the aspect of motion power of manipulator, the power loss caused by internal filling compensation oil and hydrodynamic force are analyzed and tested. The experimental results show that different communication connection modes have a great influence on the motion delay of the slave tracking master, and the power caused by compensation oil and hydrodynamic force cannot be ignored. The analysis and experimental results of the performance of the deep-sea electric manipulator are beneficial to improve the underwater operation performance of the manipulator and reduce the loss of power.
产权排序	1
会议录	OCEANS 2019 MTS/IEEE Seattle
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-0-5785-7618-3
WOS记录号	WOS:000534568500053
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26281]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Zhang QF(张奇峰)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Institutes for Robotics and Intelligent Manufacting, Chinese Academy of Sciences, Shenyang, China 3.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式 GB/T 7714	Bai YF,Zhang QF,Tian QY,et al. Performance and experiment of deep-sea master-slave servo electric manipulator[C]. 见:. Seattle, WA, United states. October 27-31, 2019.