TY - GEN
T1 - Motion control of underwater robotic arm using calibration-free visual servoing system
AU - Kawamura, Akihiro
AU - Kubo, Manami
AU - Yokoi, Kenshiro
AU - Sakagami, Norimitsu
AU - Kawamura, Sadao
PY - 2015/9/17
Y1 - 2015/9/17
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84957671152&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84957671152&partnerID=8YFLogxK
U2 - 10.1109/OCEANS-Genova.2015.7271454
DO - 10.1109/OCEANS-Genova.2015.7271454
M3 - Conference contribution
AN - SCOPUS:84957671152
T3 - MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World
BT - MTS/IEEE OCEANS 2015 - Genova
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - MTS/IEEE OCEANS 2015 - Genova
Y2 - 18 May 2015 through 21 May 2015
ER -
