Title :
Controlling an uninstrumented ROV manipulator by visual servoing
Author :
Marchand, Éric ; Chaumette, François ; Spindler, Fabien ; Perrier, Michel
Author_Institution :
IRISA - INRIA Rennes, France
Abstract :
We present a vision-based method to control the displacement of robot arm mounted on an underwater ROV. A closed-loop system based on an eye-to-hand visual servoing approach has been designed to achieve this task. We show that, using such an approach, measuring the manipulator motion with proprioceptive sensors is not required to precisely control the end-effector motion. To maintain the end effector in the field of view, the camera orientation is also controlled. Presented results show the validity of the approach
Keywords :
Jacobian matrices; image sensors; manipulators; motion control; position control; remotely operated vehicles; robot vision; underwater vehicles; velocity control; Victor 6000 ROV; camera orientation; closed-loop system; displacement control; end-effector motion; eye-to-hand visual servoing; underwater ROV; uninstrumented ROV manipulator; vision-based method; visual servoing; Cameras; Displacement control; End effectors; Manipulators; Motion control; Motion measurement; Remotely operated vehicles; Robot sensing systems; Robot vision systems; Visual servoing;
Conference_Titel :
OCEANS, 2001. MTS/IEEE Conference and Exhibition
Conference_Location :
Honolulu, HI
Print_ISBN :
0-933957-28-9
DOI :
10.1109/OCEANS.2001.968261
