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...

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Bibliographic Details
Main Authors:	Satja Sivčev, Matija Rossi, Joseph Coleman, Edin Omerdić, Gerard Dooly, Daniel Toal
Format:	Article
Language:	English
Published:	MDPI AG 2018-04-01
Series:	Sensors
Subjects:	underwater manipulation collision detection collision sensing collision avoidance manipulator control robot arm subsea inspection and intervention marine robotics ROV
Online Access:	http://www.mdpi.com/1424-8220/18/4/1117

id	doaj-b9362bac096e42b8b408c1a3ca78afa1
record_format	Article
spelling	doaj-b9362bac096e42b8b408c1a3ca78afa12020-11-24T22:22:58ZengMDPI AGSensors1424-82202018-04-01184111710.3390/s18041117s18041117Collision Detection for Underwater ROV Manipulator SystemsSatja Sivčev0Matija Rossi1Joseph Coleman2Edin Omerdić3Gerard Dooly4Daniel Toal5MaREI – Marine and Renewable Energy Ireland, Cork, IrelandMaREI – Marine and Renewable Energy Ireland, Cork, IrelandMaREI – Marine and Renewable Energy Ireland, Cork, IrelandMaREI – Marine and Renewable Energy Ireland, Cork, IrelandMaREI – Marine and Renewable Energy Ireland, Cork, IrelandMaREI – Marine and Renewable Energy Ireland, Cork, IrelandWork-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.http://www.mdpi.com/1424-8220/18/4/1117underwater manipulationcollision detectioncollision sensingcollision avoidancemanipulator controlrobot armsubsea inspection and interventionmarine roboticsROV
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Satja Sivčev Matija Rossi Joseph Coleman Edin Omerdić Gerard Dooly Daniel Toal
spellingShingle	Satja Sivčev Matija Rossi Joseph Coleman Edin Omerdić Gerard Dooly Daniel Toal Collision Detection for Underwater ROV Manipulator Systems Sensors underwater manipulation collision detection collision sensing collision avoidance manipulator control robot arm subsea inspection and intervention marine robotics ROV
author_facet	Satja Sivčev Matija Rossi Joseph Coleman Edin Omerdić Gerard Dooly Daniel Toal
author_sort	Satja Sivčev
title	Collision Detection for Underwater ROV Manipulator Systems
title_short	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_sort	collision detection for underwater rov manipulator systems
publisher	MDPI AG
series	Sensors
issn	1424-8220
publishDate	2018-04-01
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.
topic	underwater manipulation collision detection collision sensing collision avoidance manipulator control robot arm subsea inspection and intervention marine robotics ROV
url	http://www.mdpi.com/1424-8220/18/4/1117
work_keys_str_mv	AT satjasivcev collisiondetectionforunderwaterrovmanipulatorsystems AT matijarossi collisiondetectionforunderwaterrovmanipulatorsystems AT josephcoleman collisiondetectionforunderwaterrovmanipulatorsystems AT edinomerdic collisiondetectionforunderwaterrovmanipulatorsystems AT gerarddooly collisiondetectionforunderwaterrovmanipulatorsystems AT danieltoal collisiondetectionforunderwaterrovmanipulatorsystems
_version_	1725766490410450944

Collision Detection for Underwater ROV Manipulator Systems

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