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Ministerio de Educación y Ciencia (Espanya)
Ministerio de Ciencia e Innovación (Espanya) |
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Fernández, José Javier
Prats, Mario Sanz, Pedro José GarcÃa, Juan Carlos MarÃn, Raúl Gella Robinson, Mike Ribas Romagós, David Ridao RodrÃguez, Pere |
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2013 | |
A new underwater robot arm was developed through intensive cooperation between different academic institutions and an industrial company. The manipulator, which was initially designed to be teleoperated, was adapted for our autonomy needs. Its dimensions and weight were reduced, and its kinematic model was developed so that autonomous control can be performed with it. We compare several commercially available underwater manipulators and describe the development of the new one, from its initial configuration to its mechanical adaptation, modeling, control, and final assembly on an autonomous underwater vehicle (AUV). The feasibility and reliability of this arm is demonstrated in water tank conditions, where various innovative autonomous object-recovery operations are successfully performed, both in stand-alone operation and integrated in an AUV prototype This research was partly supported by Spanish Ministry of Research and Innovation DPI2011-27977-C03 (TRITON Project) and DPI2008-06548-C03 (RAUVI Project), by the European Commission’s Seventh Framework Programme FP7/2007-2013 under grant agreement 248497 (TRIDENT Project), by Foundation Caixa Castello-Bancaixa PI.1B2011-17, and by Generalitat Valenciana ACOMP/2012/252 |
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application/pdf | |
http://hdl.handle.net/10256/10199 | |
eng | |
Institute of Electrical and Electronics Engineers (IEEE) | |
info:eu-repo/semantics/altIdentifier/doi/10.1109/MRA.2013.2248307 info:eu-repo/semantics/altIdentifier/issn/1070-9932 info:eu-repo/grantAgreement/MICINN//DPI2011-27977-C03-02/ES/COMAROB: ROBOTICA COOPERATIVA MARINA PARA EL MAPEO ACUSTICO Y LA INTERVENCION/ info:eu-repo/grantAgreement/MICINN//DPI2008-06548-C03-03/ES/ROBOT GENERICO E INTELIGENTE CON NAVEGACION Y OPERACION AUTONOMA PARA PROFUNDIDADES DE 500 METROS/ info:eu-repo/grantAgreement/EC/FP7/248497/EU/Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions/TRIDENT |
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Tots els drets reservats | |
Robots -- Sistemes de control
Robots -- Projectes i construcció Vehicles submergibles -- Sistemes de control Robots -- Control systems Robots -- Design and construction Submersibles -- Control systems |
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Grasping for the seabed: developing a new underwater robot arm for shallow-water intervention | |
info:eu-repo/semantics/article | |
DUGiDocs |