Motion control of underwater robotic arm using calibration-free visual servoing system

Akihiro Kawamura, Manami Kubo, Kenshiro Yokoi, Norimitsu Sakagami, Sadao Kawamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Underwater manipulators are traditionally controlled by skilled operators to achieve tasks, e.g. underwater survey, inspection, construction and repair operations. However, these systems need much human resources and huge control systems. Thereby, the automation of control of underwater manipulators are required to reduce the work load of operators. In order to satisfy the requirements, this paper introduces a method that controls underwater manipulators using visual information observed by stereo cameras. The characteristics of the method is the robustness against calibration errors of cameras and kinematical relation between cameras and manipulators. Operators can control manipulators adaptively by pointing a target on images captured by cameras using the method. In this paper, the usefulness of the method is verified through experimental results using an underwater robotic arm which has 4 DOFs.

Original languageEnglish
Title of host publicationMTS/IEEE OCEANS 2015 - Genova
Subtitle of host publicationDiscovering Sustainable Ocean Energy for a New World
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479987368
Publication statusPublished - Sep 17 2015
EventMTS/IEEE OCEANS 2015 - Genova - Genova, Italy
Duration: May 18 2015May 21 2015

Publication series

NameMTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World


OtherMTS/IEEE OCEANS 2015 - Genova

All Science Journal Classification (ASJC) codes

  • Renewable Energy, Sustainability and the Environment
  • Oceanography


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