Title :
Visual servoing of a 2-link underwater robot manipulator
Author :
Maruthupandi, A. ; Muthupalaniappan, N. ; Pandian, S.R.
Author_Institution :
Dept. of Inf. Technol., Velammal Coll. of Eng. & Technol., Madurai, India
Abstract :
Robust control methods for underwater manipulators are needed for development of next generation, autonomous underwater vehicle-manipulator systems. For manipulation and intervention in uncertain hydrodynamic environments, vision-based positioning and tracking are essential tasks. In this research, a visual servoing control system is proposed for a two-link electrically actuated underwater manipulator. Results of PID position and tracking control using visual feedback in a laboratory water tank are presented for a two-link prototype manipulator to illustrate the effectiveness of the proposed method.
Keywords :
autonomous underwater vehicles; hydrodynamics; manipulators; marine control; mobile robots; position control; robot vision; robust control; three-term control; PID position control; autonomous underwater vehicle-manipulator systems; hydrodynamic environments; laboratory water tank; robust control methods; tracking control; two-link underwater manipulator; underwater robot manipulator; vision-based positioning; visual feedback; visual servoing control system; Manipulators; PID control; electrical actuator; underwater manipulator; visual servoing;
Conference_Titel :
Underwater Technology (UT), 2015 IEEE
Conference_Location :
Chennai
Print_ISBN :
978-1-4799-8299-8
DOI :
10.1109/UT.2015.7108226
