Visual Servoing of a 2-link Underwater Robot Manipulator

被引：0
|
作者：
Maruthupandi, A. [1 ]
Muthupalaniappan, N. [1 ]
Pandian, S. R. [1 ]
机构：
[1] Velammal Coll Engn & Technol, Dept Informat Technol, Madurai 625009, Tamil Nadu, India
来源：
2015 IEEE UNDERWATER TECHNOLOGY (UT) | 2015年
关键词：
undenvater manipulator; electrical actuator; PID control; visual servoing;
D O I：
暂无
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
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.
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页数：2
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