Modularity development and control of an underwater manipulator for AUV
Modularity development and control of an underwater manipulator for AUV
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AUV水下机械臂的模块化开发与控制
DOI：
10.1109/iros.2007.4399470
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
K. Ishii
中科院分区：
文献类型：
--
作者：
M. Ishitsuka;K. Ishii
本文主要研究自主式水下机器人水下机械手的设计与控制。首先，对机械臂和AUV到达目标位置的运动进行了仿真，并根据仿真结果确定了机械臂的参数。该机械手采用磁耦合防水机构设计，利用磁力在墙壁上传输动力，并作为一个模块，包括电机和电机驱动器，只需要在机器人的电源和通信。AUV系统采用模块化设计，便于连接，简化布线，提高连接的可靠性。模块系统是一种小型封装系统，具有小功能和用于连接另一个模块的连接器。最后，采用模块化系统开发了AUV系统和机械手。
This paper is development and control of an underwater manipulator for autonomous underwater vehicle (AUV). First, we simulated motion of the manipulator and AUV to reach target position and decided parameter of manipulator using simulation results. The manipulator was designed using magnetic coupling mechanism for waterproof that uses magnetic force for transporting power over the wall, and as one module including motor and motor driver to need only power source and communication in the robot. The system of AUV was developed using module system for easy connecting, simplification of wiring and improvement of reliability of connection. Module system is small packaging system with small function and connectors using for connecting another module. Finally, the AUV system and the manipulator were developed using module system.
DOI：
10.1109/oceans.2005.1640020
发表时间：
2005-09
期刊：
Proceedings of OCEANS 2005 MTS/IEEE
影响因子：
--
作者：
M. Ishitsuka;K. Ishii
通讯作者：
M. Ishitsuka;K. Ishii