End-precision measurement method for autonomous underwater vehicle manipulator systems and its principle error analysis

被引：0
|
作者：
Yao F. [1 ]
Yang C. [1 ]
Zhang M. [1 ]
Wang L. [1 ]
机构：
[1] College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2019年 / 40卷 / 06期
关键词：
Autonomous underwater vehicle manipulator systems (AUVMS); Coordinate transformation; Dynamic precision; Precision measurement; Principle error; Static precision; Underwater manipulator; Underwater vehicle;
D O I：
10.11990/jheu.201805034
中图分类号：
学科分类号：
摘要：
Two end-precision measurement methods for autonomous underwater vehicle manipulator systems (AUVMSs) were addressed in this work. The two methods were based on different principles: First, a noncontact end-precision range measurement method was proposed to detect whether the end movement precision of AUVMS is within a certain range. Second, a contact-type end-precision measurement method was proposed to solve the problems encountered in end-precision measurement in the underwater environment. An error analysis method based on numerical iteration for the principle error problem of the end-precision measurement method was proposed by analyzing the factors that influence errors. Finally, pool experiments on end-precision measurement under the conditions of the fixed and dynamic positioning of AUVMSs were conducted to verify the effectiveness of the proposed method. Experimental results showed that the proposed method can effectively measure the end precision of manipulators in real time. © 2019, Editorial Department of Journal of HEU. All right reserved.
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页码：1155 / 1162
页数：7
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