Touch Screen Based Assistance Technique for Underwater Manipulation of Cable Burying ROV

조건래; 기건희; 이계홍

doi:10.7736/KSPE.2019.36.4.349

주제분류

...

저널정보

Korean Society for Precision Engineering
Journal of the Korean Society for Precision Engineering 학술저널
Journal of the Korean Society for Precision Engineering Vol.36 No.4
2019.4 349 - 361 (13page)
DOI : 10.7736/KSPE.2019.36.4.349

저자정보

조건래 (한국로봇융합연구원)
기건희 (한국로봇융합연구원)
이계홍 (한국로봇융합연구원)

이용수
내서재: 0

내서재에 추가
되었습니다. 내서재에서
삭제되었습니다.

초록·키워드

오류제보하기

URI-T can perform various underwater construction tasks such as cable burial and maintenance. Successful sea trial results show that URI-T could be used in underwater construction fields. To improve the efficiency of URI-T, an assisted teleoperation scheme for underwater manipulations was also proposed. For the proposed scheme, by touching several points on the touch screen, one can move the manipulator to the target; it can reduce the burden of teleoperation of every degree-of-freedom (DOF) of the manipulators. The scheme also has a position estimation technique that can estimate six DOF position of the objects using 2D positions on the two images from cameras deployed in stereo. Via touch screen, the 2D positions are fed to guarantee reliability of the estimated results, which is one of the most important points in the underwater interventions. A control structure for the assisted teleoperation was investigated using the position estimation technique. The structure involved an inverse kinematics scheme based on the weighted damped least squares, which can resolve the kinematical limitations: workspace limit and singularity, and joint limits on position and velocity. This study established that the proposed assistance technique could significantly reduce operation time in comparison with the conventional teleoperation.

#Remotely operated vehicle (원격무인잠수정) #Underwater cable burial (해저 케이블 매설) #Underwater manipulation (수중 매니퓰레이션) #Teleoperation assistance (원격조작 어시스턴스) #Touch screen (터치스크린)