| 智能化水下机械手的研究 |
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| 引用本文： | 张广斌,沈庆伟.智能化水下机械手的研究[J].自动化与仪表,2011,26(10). |
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| 作者姓名： | 张广斌 沈庆伟 |
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| 作者单位： | 1. 安徽建筑工业学院计算机工程系,合肥 230601;中国科学技术大学自动化系,合肥 230026;中国科学院合肥智能机械研究所,合肥 230031
2. 安徽建筑工业学院计算机工程系,合肥,230601 |
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| 基金项目： | 国家高技术研究发展计划863资助项目，安徽省教育厅自然科学项目 |
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| 摘 要： | 水下机械手的研究和设计对水下机器人的应用和发展具有重要的影响,而智能化水下机械手要具有自主路径规划和目标类型判断的功能.文中首先简要叙述了水下机械手的发展现状和存在问题,然后通过分析抓取任务及环境信息的获取,设计了系统的硬件结构和软件组成.接着通过对水下机械手进行数学建模,阐述了抓取操作的工作原理,并给出了一个抓取过程的实例曲线.
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| 关 键 词： | 水下机械手 力信息 抓取 |
Research for an Intelligent Underwater Manipulator |
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| ZHANG Guang-bin,SHEN Qing-wei.Research for an Intelligent Underwater Manipulator[J].Automation and Instrumentation,2011,26(10). |
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| Authors: | ZHANG Guang-bin SHEN Qing-wei |
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| Affiliation: | ZHANG Guang-bin1,2,3,SHEN Qing-wei1(1.Department of Computer Engineering,Anhui University of Architecture,Hefei 230601,China,2.Department of Automation,University of Science and Technology of China,Hefei 230026,3.Institute of Intelligent Machines,Chinese Academy of Sciences,Hefei 230031,China) |
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| Abstract: | The study of underwater manipulators reseach and design was very important for the application and development of underwater robot.Moreover,an intelligent underwater manipulator has the functions of autonomous motion planning and objects types judging.Firstly,the development status and existing problems of underwater manipulator was describes simply,and architecture of hardware and structure of software were designed through analyzing grasp task and acquisition of environment information.Then the working pr... |
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| Keywords: | underwater manipulator information of force grasp |
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