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Sensors 2018, 18(4), 1117; https://doi.org/10.3390/s18041117

Collision Detection for Underwater ROV Manipulator Systems

1
MaREI – Marine and Renewable Energy Ireland, Cork, Ireland
2
Department of Electronic and Computer Engineering, University of Limerick, Limerick, Ireland
These authors contributed equally to this work.
*
Author to whom correspondence should be addressed.
Received: 19 March 2018 / Revised: 3 April 2018 / Accepted: 4 April 2018 / Published: 6 April 2018
(This article belongs to the Section Physical Sensors)
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Abstract

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. View Full-Text
Keywords: underwater manipulation; collision detection; collision sensing; collision avoidance; manipulator control; robot arm; subsea inspection and intervention; marine robotics; ROV underwater manipulation; collision detection; collision sensing; collision avoidance; manipulator control; robot arm; subsea inspection and intervention; marine robotics; ROV
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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MDPI and ACS Style

Sivčev, S.; Rossi, M.; Coleman, J.; Omerdić, E.; Dooly, G.; Toal, D. Collision Detection for Underwater ROV Manipulator Systems. Sensors 2018, 18, 1117.

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