System design of an ROV with manipulators and adaptive control of it

Author

Lee, Pan-Mook ; Jeon, Bong-Hwan ; Hong, Seok-Won ; Lim, Yong-Kon ; Lee, Chong-Moo ; Park, Jong-Won ; Lee, Chang-Min

Author_Institution

Ocean Dev. Syst. Res. Center, KORDI, Taejon, South Korea

fYear

2000

fDate

2000

Firstpage

431

Lastpage

436

Abstract

A remotely operated vehicle (ROV) equipped with two manipulators and an underwater stereo camera is being developed in KRISO (Korea Research Institute of Ships and Ocean Engineering) for seabed working. This paper describes the preliminary design of the ROV. An underwater stereo camera has been developed to enhance the working efficiency of the ROV with the manipulator in seabed operation. This paper presents the operational principle and the structure of the underwater stereo camera. The stereo camera consists of two CCD cameras and horizontally moving base, and it is embedded in a small pressure canister for underwater application. This paper also evaluates the implementation of an adaptive controller to the tracking control of the ROV/manipulator system

Keywords

adaptive control; computer vision; manipulators; telerobotics; underwater vehicles; Korea Research Institute of Ships and Ocean Engineering; adaptive control; manipulators; remotely operated vehicle; seabed operation; tracking control; underwater stereo camera; Adaptive control; Automotive engineering; Cameras; Charge coupled devices; Charge-coupled image sensors; Control systems; Marine vehicles; Oceans; Programmable control; Remotely operated vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Underwater Technology, 2000. UT 00. Proceedings of the 2000 International Symposium on

Conference_Location

Tokyo

Print_ISBN

0-7803-6378-7

Type

conf

DOI

10.1109/UT.2000.852583

Filename

852583