Dynamic workspace control method of underwater manipulator based on motion compensation of an ROV

This paper presents a dynamic workspace control method of underwater manipulator mounted on a floating ROV (Remotely Operated vehicle) in undersea. This method is developed for precise linear motion control of a manipulator´s end-effector considering the motion of a floating ROV caused by sea wave. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation. For online manipulator control achievement, the position tracking technique based on extended Kalman filter (EKF) and the input velocity compensation technique for differential inverse kinematics solution are applied. In addition, for precise workspace control, the third-order differential inverse kinematics is utilized. In this paper, the proposed method is verified by both experimental data based test of ROV position tracking and simulations of the proposed control method. In these tests, the specification of the KORDI deep-sea ROV Hemire is utilized.