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

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

doi:10.1109/OCEANS-Genova.2015.7271454

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

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

Real world robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

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 language	English
Title of host publication	MTS/IEEE OCEANS 2015 - Genova
Subtitle of host publication	Discovering Sustainable Ocean Energy for a New World
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479987368
DOIs	https://doi.org/10.1109/OCEANS-Genova.2015.7271454
Publication status	Published - Sep 17 2015
Event	MTS/IEEE OCEANS 2015 - Genova - Genova, Italy Duration: May 18 2015 → May 21 2015

Publication series

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

Other

Other	MTS/IEEE OCEANS 2015 - Genova
Country	Italy
City	Genova
Period	5/18/15 → 5/21/15

All Science Journal Classification (ASJC) codes

Renewable Energy, Sustainability and the Environment
Oceanography

Access to Document

10.1109/OCEANS-Genova.2015.7271454

Fingerprint Dive into the research topics of 'Motion control of underwater robotic arm using calibration-free visual servoing system'. Together they form a unique fingerprint.

Cite this

Kawamura, A., Kubo, M., Yokoi, K., Sakagami, N., & Kawamura, S. (2015). Motion control of underwater robotic arm using calibration-free visual servoing system. In MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World [7271454] (MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANS-Genova.2015.7271454

Motion control of underwater robotic arm using calibration-free visual servoing system. / Kawamura, Akihiro; Kubo, Manami; Yokoi, Kenshiro; Sakagami, Norimitsu; Kawamura, Sadao.

MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World. Institute of Electrical and Electronics Engineers Inc., 2015. 7271454 (MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kawamura, A, Kubo, M, Yokoi, K, Sakagami, N & Kawamura, S 2015, Motion control of underwater robotic arm using calibration-free visual servoing system. in MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World., 7271454, MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World, Institute of Electrical and Electronics Engineers Inc., MTS/IEEE OCEANS 2015 - Genova, Genova, Italy, 5/18/15. https://doi.org/10.1109/OCEANS-Genova.2015.7271454

Kawamura A, Kubo M, Yokoi K, Sakagami N, Kawamura S. Motion control of underwater robotic arm using calibration-free visual servoing system. In MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World. Institute of Electrical and Electronics Engineers Inc. 2015. 7271454. (MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World). https://doi.org/10.1109/OCEANS-Genova.2015.7271454

Kawamura, Akihiro ; Kubo, Manami ; Yokoi, Kenshiro ; Sakagami, Norimitsu ; Kawamura, Sadao. / Motion control of underwater robotic arm using calibration-free visual servoing system. MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World. Institute of Electrical and Electronics Engineers Inc., 2015. (MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World).

@inproceedings{c4d0012fb4834e1a8f61e191cc88fad1,

title = "Motion control of underwater robotic arm using calibration-free visual servoing system",

abstract = "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.",

author = "Akihiro Kawamura and Manami Kubo and Kenshiro Yokoi and Norimitsu Sakagami and Sadao Kawamura",

year = "2015",

month = sep,

day = "17",

doi = "10.1109/OCEANS-Genova.2015.7271454",

language = "English",

series = "MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "MTS/IEEE OCEANS 2015 - Genova",

address = "United States",

note = "MTS/IEEE OCEANS 2015 - Genova ; Conference date: 18-05-2015 Through 21-05-2015",

}

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 -