Virtual Submerged Floating Operational System for Robotic Manipulation
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-deg...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/9528313 |
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| _version_ | 1832556455416299520 |
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| author | Qin Zhang Jialei Zhang Ahmed Chemori Xianbo Xiang |
| author_facet | Qin Zhang Jialei Zhang Ahmed Chemori Xianbo Xiang |
| author_sort | Qin Zhang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-21aa1351661845ffb2dbab4b9b7efcc3 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-21aa1351661845ffb2dbab4b9b7efcc32025-02-03T05:45:24ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/95283139528313Virtual Submerged Floating Operational System for Robotic ManipulationQin Zhang0Jialei Zhang1Ahmed Chemori2Xianbo Xiang3State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaLIRMM, CNRS - University of Montpellier, 161 rue Ada, 34392 Montpellier, FranceSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaIn 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.http://dx.doi.org/10.1155/2018/9528313 |
| spellingShingle | Qin Zhang Jialei Zhang Ahmed Chemori Xianbo Xiang Virtual Submerged Floating Operational System for Robotic Manipulation Complexity |
| title | Virtual Submerged Floating Operational System for Robotic Manipulation |
| title_full | Virtual Submerged Floating Operational System for Robotic Manipulation |
| title_fullStr | Virtual Submerged Floating Operational System for Robotic Manipulation |
| title_full_unstemmed | Virtual Submerged Floating Operational System for Robotic Manipulation |
| title_short | Virtual Submerged Floating Operational System for Robotic Manipulation |
| title_sort | virtual submerged floating operational system for robotic manipulation |
| url | http://dx.doi.org/10.1155/2018/9528313 |
| work_keys_str_mv | AT qinzhang virtualsubmergedfloatingoperationalsystemforroboticmanipulation AT jialeizhang virtualsubmergedfloatingoperationalsystemforroboticmanipulation AT ahmedchemori virtualsubmergedfloatingoperationalsystemforroboticmanipulation AT xianboxiang virtualsubmergedfloatingoperationalsystemforroboticmanipulation |