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There is an urgent need to check and salvage foreign objects for the nuclear power plant. A 4-DOF underwater manipulator served for nuclear power plant can complete the examination, salvage or other actions for the nuclear power station reactor core and foreign objects in the pool. In this paper, several researches on 4-DOF underwater manipulator served for nuclear power plant are carried out as follows:...
This paper presents the un-calibrated vision servo control algorithm to track the target with mobile manipulator. Color histogram distance calculation methods and shape matching method are discussed to recognize the target .The on-line estimation algorithm for Image Jacobian matrix model is designed based on the Kalman filter. With this image Jacobian on-line estimator, the visual feedback controller...
Mobile manipulators have attracted a lot of interest recently. This paper discusses the development of mobile manipulators in recent years in the aspect of motion planning, modeling and control and coordination between mobile platform and manipulator. In this paper, quite a few problems in this field were presented and relative solving methods and results were briefly introduced. A hierarchical intelligent...
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