Le LIANG

Address

A435. Kaiwu Bldg. of Mechanical Engineering, Tongji Univ., No. 4800 Cao An Rd., Shanghai 201804, P. R. China

Research Field:

Trajectory planning and optimization of underwater robot manipulator based on visual servo

Underwater vehicle-manipulator system（UVMS）plays a more and more important role in the exploration and development of the ocean. It is particularly important to improve the automation of the underwater vehicle and to ensure the manipulator's working accuracy under water.

Because of the complex underwater environment, the servo camera is jitter when the underwater vehicle is operated on visual servoing. The original image obtained has complex background and has gray and white characteristics. Uneven mixing of artificial light and seawater can even reduce the image contrast. The motion trajectory of a robot is three-dimensional, and there is more complex dynamic coupling problem than the space manipulator. Trajectory planning becomes more difficult.

Status Seminar Reports：

2016: Trajectory planning method for underwater six degree of freedom manipulator

2017: Research on the method of system trajectory planning of UVMS

Publication

[1] Qirong Tang, Le Liang, Jianhua Xie, and Zhenqiang Deng. Task-priority redundancy resolution on acceleration level for underwater vehicle-manipulator system. International Journal of Advanced Robotic Systems, 2017, 14(4): 1-9..

[2] Qirong Tang, Le Liang, Yinghao Li, Zhenqiang Deng, Yinan Guo, and Hai Huang. An energy minimized solution for solving redundancy of underwater vehicle-manipulator system based on genetic algorithm. Proceedings of the 8th International Conference on Swarm Intelligence, Part of the Lecture Notes in Computer Science book series, vol. 10385, pp. 394-401, July 27-August 1, 2017, Fukuoka, Japan. (EI) .