Title :
The underwater automatic interfacing system
Author :
Xiaodong, Wang ; Qingxin, Meng
Author_Institution :
Electromech. Inst., Harbin Eng. Univ., China
Abstract :
A novel underwater interfacing system, which adopts “catching” manipulators to assist in interfacing, is introduced in this paper. The overall description of the system, including the basic working principle, interfacing apparatus´ degrees of freedom and system´s configuration, are given. The kinematics and statics of the interfacing apparatus are analyzed, and the automatic interfacing strategy is presented
Keywords :
computerised control; manipulator kinematics; marine systems; position control; transfer function matrices; coordinate control; kinematics; manipulators; static state; system configuration; transfer matrix; underwater interfacing system; Control systems; Couplings; Joining processes; Kinematics; Manipulator dynamics; Marine technology; Personnel; Sea surface; Switches; Underwater vehicles;
Conference_Titel :
Underwater Technology, 1998. Proceedings of the 1998 International Symposium on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-4273-9
DOI :
10.1109/UT.1998.670131
