Closing the Gap between Industrial Robots and Underwater Manipulators

被引：0

作者：

Sivcev, Satja ^{[1
]}

Coleman, Joseph ^{[1
]}

Adley, David ^{[1
]}

Dooly, Gerard ^{[1
]}

Omerdic, Edin ^{[1
]}

Toal, Daniel ^{[1
]}

机构：

[1] Univ Limerick, MaREI, Limerick, Ireland

来源：

OCEANS 2015 - MTS/IEEE WASHINGTON | 2015年

关键词：

underwater manipulator; underwater intervention; closed-loop inverse kinematics;

D O I：

暂无

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Underwater robot manipulators mounted on work class ROVs are extensively used in a wide range of subsea intervention applications. Unlike the automated stationary robot arms used in factories, commercial underwater manipulators are tele-operated by human pilot in the loop. In this paper we describe investigations, development and adaptation of robot manipulator servo control approaches common for light assembly tasks in industry and the transfer of these techniques to marine robotics.

引用

页数：7

共 8 条

[1] [Anonymous], P 2000 ICRA MILL C I
[2] Cieslak P, 2015, IEEE INT CONF ROBOT, P529, DOI 10.1109/ICRA.2015.7139230
[3] Corke Peter I., 2011, Robotics, vision and control: fundamental algorithms in MATLAB, V73
[4] AMADEUS: Advanced MAnipulation for DEep underwater sampling
Lane, DM
Davies, JBC
Casalino, C
Veruggio, G
Canals, M
Smith, C
[J]. IEEE ROBOTICS & AUTOMATION MAGAZINE, 1997, 4 (04) : 34 - 45
[5] Ribas D., 2015, IEEE ASME T MECHATRO, P1
[6] Siciliano B, 2009, ADV TXB CONTR SIG PR, P1
[7] Spong MW, 2020, Robot modeling and control
[8] Wang HH, 1995, OCEANS '95 MTS/IEEE - CHALLENGES OF OUR CHANGING GLOBAL ENVIRONMENT, CONFERENCE PROCEEDINGS, VOLS 1-3, P366, DOI 10.1109/OCEANS.1995.526796

← 1 →