Collision Detection for Underwater ROV Manipulator Systems
AbstractWork-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
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Sivčev, S.; Rossi, M.; Coleman, J.; Omerdić, E.; Dooly, G.; Toal, D. Collision Detection for Underwater ROV Manipulator Systems. Sensors 2018, 18, 1117.
Sivčev S, Rossi M, Coleman J, Omerdić E, Dooly G, Toal D. Collision Detection for Underwater ROV Manipulator Systems. Sensors. 2018; 18(4):1117.Chicago/Turabian Style
Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel. 2018. "Collision Detection for Underwater ROV Manipulator Systems." Sensors 18, no. 4: 1117.
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