Controlling an uninstrumented ROV manipulator by visual servoing

Author

Marchand, Éric ; Chaumette, François ; Spindler, Fabien ; Perrier, Michel

Author_Institution

IRISA - INRIA Rennes, France

Volume

2

fYear

2001

fDate

2001

Firstpage

1047

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;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS, 2001. MTS/IEEE Conference and Exhibition

Conference_Location

Honolulu, HI

Print_ISBN

0-933957-28-9

Type

conf

DOI

10.1109/OCEANS.2001.968261

Filename

968261