| 多臂水下机器人对接作业控制 |
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| 引用本文： | 戴学丰,边信黔,施小成.多臂水下机器人对接作业控制[J].哈尔滨工程大学学报,2001,22(6):9-11. |
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| 作者姓名： | 戴学丰 边信黔 施小成 |
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| 作者单位： | 动力与核能工程学院, |
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| 基金项目： | 高等学校骨干教师资助计划项目 . |
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| 摘 要： | BSAV－Ⅰ是我们研制的具有6个自由度运动能力并安装4只2自由度机械手的用于实验目的的水下机器人，其任务是在水中寻找并抓取圆环。为了实现自主作业，本文根据作业特点提出了将机器人对接作业过程抽象成自动机模型的方法，并用离散事件系统（DES）监控理论实现了各机械手间的协调动作和体手间的协调控制。
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| 关 键 词： | 多臂水下机器人 对接作业 离散事件系统 监督控制 自动机 |
| 文章编号： | 1006-7043(2001)06-0009-03 |
Control for Mating Operation of Multi-Arm Underwater Vehicle |
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| DAI Xue_feng,BIAN Xin_qian,SHI Xiao_cheng.Control for Mating Operation of Multi-Arm Underwater Vehicle[J].Journal of Harbin Engineering University,2001,22(6):9-11. |
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| Authors: | DAI Xue_feng BIAN Xin_qian SHI Xiao_cheng |
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| Abstract: | BSAV_I is an experimental underwater robotic vehicle with six degrees of freedom and four 2 DOF manipulators developed for searching and catching circles in water.In order to achieve autonomous operation,the mating operation was abstracted to an automation model based upon the operating characteristics,and the coordination of manipulators and the coordinated control of robotic vehicle and manipulators were realized using discrete event system (DES) theory. |
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| Keywords: | underwater vehicle coordinated control discrete event system supervisory control automaton |
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