[1]姚峰,杨超,张铭钧,等.水下机器人-机械手末端精度测量方法及误差分析[J].哈尔滨工程大学学报,2019,40(06):1155-1162.[doi:10.11990/jheu.201805034]
 YAO Feng,YANG Chao,ZHANG Mingjun,et al.End-precision measurement method for autonomous underwater vehicle manipulator systems and its principle error analysis[J].hebgcdxxb,2019,40(06):1155-1162.[doi:10.11990/jheu.201805034]
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水下机器人-机械手末端精度测量方法及误差分析(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
40
期数:
2019年06期
页码:
1155-1162
栏目:
出版日期:
2019-06-05

文章信息/Info

Title:
End-precision measurement method for autonomous underwater vehicle manipulator systems and its principle error analysis
作者:
姚峰 杨超 张铭钧 王连强
哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001
Author(s):
YAO Feng YANG Chao ZHANG Mingjun WANG Lianqiang
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
水下机器人水下机器人-机械手系统AUVMS精度测量坐标转换原理性误差静态精度动态精度
分类号:
P756
DOI:
10.11990/jheu.201805034
文献标志码:
A
摘要:
针对水下机器人-机械手系统的末端精度测量问题,本文研究2种不同原理的末端精度测量方法。为检测系统末端精度是否在某一特定范围内,提出一种非接触式末端精度范围测量方法;针对水下环境中机械手末端精度数值的测量问题,提出一种接触式水下机械手末端精度测量方法。针对末端精度测量方法的原理性误差问题,分析测量方法中误差影响因素,提出基于数值迭代方式的误差分析方法。在水下机器人艇体固定和动力悬停状态下,进行末端精度测量水池实验,实验结果表明:本文方法能实时、有效测量得出机械手末端精度,并验证了本文方法的有效性。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2018-05-10。
基金项目:国家重点研发计划(2017YFC0305703);国家自然科学基金项目(51779060)。
作者简介:姚峰,男,博士研究生;杨超,男,博士研究生;张铭钧,男,教授,博士生导师.
通讯作者:杨超,E-mail:yangchao@hrbeu.edu.cn.
更新日期/Last Update: 2019-06-03