Cargando…

Collision Detection for Underwater ROV Manipulator Systems

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 co...

Descripción completa

Detalles Bibliográficos
Autores principales: Sivčev, Satja, Rossi, Matija, Coleman, Joseph, Omerdić, Edin, Dooly, Gerard, Toal, Daniel
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5948682/
https://www.ncbi.nlm.nih.gov/pubmed/29642396
http://dx.doi.org/10.3390/s18041117
_version_ 1783322605503119360
author Sivčev, Satja
Rossi, Matija
Coleman, Joseph
Omerdić, Edin
Dooly, Gerard
Toal, Daniel
author_facet Sivčev, Satja
Rossi, Matija
Coleman, Joseph
Omerdić, Edin
Dooly, Gerard
Toal, Daniel
author_sort Sivčev, Satja
collection PubMed
description 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.
format Online
Article
Text
id pubmed-5948682
institution National Center for Biotechnology Information
language English
publishDate 2018
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-59486822018-05-17 Collision Detection for Underwater ROV Manipulator Systems Sivčev, Satja Rossi, Matija Coleman, Joseph Omerdić, Edin Dooly, Gerard Toal, Daniel Sensors (Basel) Article 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. MDPI 2018-04-06 /pmc/articles/PMC5948682/ /pubmed/29642396 http://dx.doi.org/10.3390/s18041117 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Sivčev, Satja
Rossi, Matija
Coleman, Joseph
Omerdić, Edin
Dooly, Gerard
Toal, Daniel
Collision Detection for Underwater ROV Manipulator Systems
title Collision Detection for Underwater ROV Manipulator Systems
title_full Collision Detection for Underwater ROV Manipulator Systems
title_fullStr Collision Detection for Underwater ROV Manipulator Systems
title_full_unstemmed Collision Detection for Underwater ROV Manipulator Systems
title_short Collision Detection for Underwater ROV Manipulator Systems
title_sort collision detection for underwater rov manipulator systems
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5948682/
https://www.ncbi.nlm.nih.gov/pubmed/29642396
http://dx.doi.org/10.3390/s18041117
work_keys_str_mv AT sivcevsatja collisiondetectionforunderwaterrovmanipulatorsystems
AT rossimatija collisiondetectionforunderwaterrovmanipulatorsystems
AT colemanjoseph collisiondetectionforunderwaterrovmanipulatorsystems
AT omerdicedin collisiondetectionforunderwaterrovmanipulatorsystems
AT doolygerard collisiondetectionforunderwaterrovmanipulatorsystems
AT toaldaniel collisiondetectionforunderwaterrovmanipulatorsystems