Thumbnail Image
Publication

Closing the gap between industrial robots and underwater manipulators

Date
2016
Abstract
Underwater robot manipulators mounted on work class ROVs are extensively used in a wide range of subsea intervention applications. Unlike the automated stationary robot arms used in factories, commercial underwater manipulators are tele-operated by human pilot in the loop. In this paper we describe investigations, development and adaptation of robot manipulator servo control approaches common for light assembly tasks in industry and the transfer of these techniques to marine robotics.
Supervisor
Description
Publisher
Institute of Electrical and Electronics Engineers
Citation
OCEANS 2015 - MTS/IEEE, 2015, pp.1-7
Collections
Electronic & Computer Engineering
Show all metadata
Files
Thumbnail Image
Sivcev_2016_Closing.pdf
Adobe PDF, 2.45 MB
Keywords
underwater manipulator, underwater intervention, closed-loop inverse kinematics, Engineering
ULRR Identifiers
https://doi.org/10.34961/researchrepository-ul.27054721
 https://hdl.handle.net/10344/13839
Funding code
Funding Information
Sustainable Development Goals
External Link
License
Embedded videos