碩士 / 國立中山大學 / 海下科技研究所 / 103 / The manipulator control system used in the work-class ROVs (Remotely Operated Vehicles, ROVs) nowadays is the Master-Slave control system. The master side uses a small replica arm to control the underwater manipulator (Slave side). This kind of system is equipped with servo valve or proportional valve pack along with position-feedback provided by rotary encoder. When the operator changes the position of the master controller, it sends the position signal to the slave arm, and the position of the joints would be sensed and fed back to the master controller. The two positions are compared, and the required signal is sended to the valves to activate and adjust the position until the error is reduced to zero. However, the cost of the overall system is high and mass of the hydraulic section is too heavy for observation-class ROVs. The hydraulic manipulators without sensors and valves that can use servo control are lighter, yet, can only be able to move each joint separately through corresponded toggle switches or joysticks. This paper provides an image-based visual servo (IBVS) control system of 5-DOF underwater hydraulic manipulator. By utilizing the visual information we can calculate the actual angle of the joints, and feed back to the controller. On the other hand, introduce the inverse Jacobian matrix to convert the distance between target point and the end-effector of the manipulator into target angles of each joints. Thus, we can compare the two angle signals to adjust each joint of the arm at the same time.
| Identifer | oai:union.ndltd.org:TW/103NSYS5281008 |
| Date | January 2015 |
| Creators | Chia-ying Lin, 林佳穎 |
| Contributors | Chau-Chang Wang, 王兆璋 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 94 |
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