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Grasping for the seabed: developing a new underwater robot arm for shallow-water intervention

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

© IEEE Robotics and Automation Magazine, 2013, vol. 20, p. 121-130

Institute of Electrical and Electronics Engineers (IEEE)

Author: Fernández, José Javier
Prats, Mario
Sanz, Pedro José
García, Juan Carlos
Marín, Raúl Gella
Robinson, Mike
Ribas Romagós, David
Ridao Rodríguez, Pere
Date: 2013
Abstract: 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
Format: application/pdf
ISSN: 1070-9932
Document access: http://hdl.handle.net/10256/10199
Language: eng
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Collection: MICINN/PN 2012-2014/DPI2011-27977-C03
MEC/PN 2009-2011/DPI2008-06548-C03-03
Reproducció digital del document publicat a: http://dx.doi.org/10.1109/MRA.2013.2248307
Articles publicats (D-ATC)
info:eu-repo/grantAgreement/EC/FP7/248497
Is part of: © IEEE Robotics and Automation Magazine, 2013, vol. 20, p. 121-130
Rights: Tots els drets reservats
Subject: Robots -- Sistemes de control
Robots -- Projectes i construcció
Vehicles submergibles -- Sistemes de control
Robots -- Control systems
Robots -- Design and construction
Submersibles -- Control systems
Title: Grasping for the seabed: developing a new underwater robot arm for shallow-water intervention
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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