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Fully automatic visual servoing control for work-class marine intervention ROVs

Résumé : ROVs with hydraulic manipulators are extensively used for subsea intervention. With camera feedback from the scene, manipulators are teleoperated and slaved to pilot held master arms. While standard for offshore oil and gas, for challenging applications in waves or currents a new approach is required. We present development of robot arm visual servo control approaches used in manufacturing and the transfer and adaption of these to underwater hydraulic manipulators. This is the first time a visual servoing algorithm for automated manipulation has been developed and verified, through subsea trials, on a commercial work-class ROV with industry standard hydraulic manipulators.
Domaine de référence : EMR
Auteur Sivčev Satja, Rossi Matija, Coleman Joseph, Dooly Gerard, Omerdić Edin, Toal Daniel
Année de parution : 2018.
Mots-clés : Manipulator control, Marine robotics, Robot arm, ROV, Underwater inspection and intervention, Underwater manipulation, Visual servoing.
Type de document : Article de revue.
Exporter la référence : BibTeX | Zotero RDF | RIS (EndNote)

Ce projet est financé par le Fonds Européen de Développement Régional, la Région Normandie et le Conseil Départemental de la Manche.