Virtual Submerged Floating Operational System for Robotic Manipulation
Virtual Submerged Floating Operational System for Robotic Manipulation
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DOI：
10.1155/2018/9528313
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发表时间：
2018-11
期刊：
影响因子：
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通讯作者：
Qin Zhang;Jialei Zhang;A. Chemori;Xianbo Xiang
中科院分区：
文献类型：
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作者：
Qin Zhang;Jialei Zhang;A. Chemori;Xianbo Xiang
提出了一种基于并联和串联机器人平台的虚拟水下漂浮作业系统。其开发背后的主要目的在于以更容易和更安全的方式进行模拟水下操作实验。该系统由六自由度并联平台、ABB串联机械手、惯性传感器和实时工业计算机组成。利用六自由度平台模拟水下机器人的运动，姿态由惯性传感器测量。ABB机械手由实时工业计算机控制，作为操作工具执行水下操作任务。在控制系统架构中，开发了软件来接收惯性传感器采集的数据，进行通信并发送指令。此外，在该软件中显示的实时状态的机械手。为了验证所提出的系统，已经进行了两个实验来测试其性能。在第一个实验中，进行了测试，以检查VSFOS的通信功能，而在第二个实验中，机械手的目的是跟随并联平台的运动，并在空间中执行模拟操作任务。这两个实验的结果清楚地表明了所提出的VSFOS的有效性和性能。
In this work, a virtual submerged floating operational system (VSFOS) based on parallel and serial robotic platforms is proposed. The primary aim behind its development lies in carrying out simulated underwater manipulation experiments in an easier and safer way. This VSFOS is consisted of a six-degree-of-freedom (6-DOF) parallel platform, an ABB serial manipulator, an inertial sensor, and a real-time industrial computer. The 6-DOF platform is used to simulate the movement of an underwater vehicle, whose attitude is measured by the inertial sensor. The ABB manipulator, controlled by the real-time industrial computer, works as an operational tool to perform underwater manipulation tasks. In the control system architecture, software is developed to receive the data collected by the inertial sensor, to communicate and send instructions. Furthermore, the real-time status of the manipulator is displayed in this software. To validate the proposed system, two experiments have been conducted to test its performance. In the first experiment, the test is carried out to check the communication function of VSFOS, while in the second one, the manipulator is intended to follow the movement of the parallel platform and perform simulated operational task in the space. The obtained results from these two experiments show clearly the effectiveness and the performance of the proposed VSFOS.