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Publication

Fully automatic visual servoing control for work-class marine intervention ROVs

Date
2018
Abstract
ROVs with hydraulic manipulators are extensively used for subsea intervention. With camera feedback from the scene, manipulators are teleoperated and slaved to pilot held master arms. While standard for offshore oil and gas, for challenging applications in waves or currents a new approach is required. We present development of robot arm visual servo control approaches used in manufacturing and the transfer and adaption of these to underwater hydraulic manipulators. This is the first time a visual servoing algorithm for automated manipulation has been developed and verified, through subsea trials, on a commercial work-class ROV with industry standard hydraulic manipulators.
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Description
peer-reviewed
Publisher
Elsevier
Citation
Control Engineering Practice;74, pp.153-167
Collections
Electronic & Computer Engineering
Mobile & Marine Robotics Research Centre (MMRRC)
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Sivcev_2018_Fully.pdf
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Keywords
underwater manipulation, manipulator control, visual servoing, robot arm, underwater inspection and intervention, marine robotics, ROV
ULRR Identifiers
https://hdl.handle.net/10344/6708
 https://doi.org/10.34961/3607
Funding code
Funding Information
Science Foundation Ireland (SFI), Resolve Marine Group, Shannon Foynes Port Company, Teledyne Blueview, Teledyne Reason and The Commissioners of Irish Lights
Sustainable Development Goals
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