Visual servoing of a 2-link underwater robot manipulator

Author

Maruthupandi, A. ; Muthupalaniappan, N. ; Pandian, S.R.

Author_Institution

Dept. of Inf. Technol., Velammal Coll. of Eng. & Technol., Madurai, India

fYear

2015

fDate

23-25 Feb. 2015

Firstpage

1

Lastpage

2

Abstract

Robust control methods for underwater manipulators are needed for development of next generation, autonomous underwater vehicle-manipulator systems. For manipulation and intervention in uncertain hydrodynamic environments, vision-based positioning and tracking are essential tasks. In this research, a visual servoing control system is proposed for a two-link electrically actuated underwater manipulator. Results of PID position and tracking control using visual feedback in a laboratory water tank are presented for a two-link prototype manipulator to illustrate the effectiveness of the proposed method.

Keywords

autonomous underwater vehicles; hydrodynamics; manipulators; marine control; mobile robots; position control; robot vision; robust control; three-term control; PID position control; autonomous underwater vehicle-manipulator systems; hydrodynamic environments; laboratory water tank; robust control methods; tracking control; two-link underwater manipulator; underwater robot manipulator; vision-based positioning; visual feedback; visual servoing control system; Manipulators; PID control; electrical actuator; underwater manipulator; visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Underwater Technology (UT), 2015 IEEE

Conference_Location

Chennai

Print_ISBN

978-1-4799-8299-8

Type

conf

DOI

10.1109/UT.2015.7108226

Filename

7108226