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Collision detection for underwater ROV manipulator systems

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posted on 2018-04-20, 08:41 authored by Satja Sivčev, Matija Rossi, Joseph Coleman, Gerard DoolyGerard Dooly, Daniel ToalDaniel Toal
Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

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Publication

Sensors;18, 1117

Publisher

MDPI

Note

peer-reviewed

Language

English

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