Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention
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Otros documentos de la autoría: Fernández Fresneda, José Javier; Prats, Mario; Sanz, Pedro J; García, Juan Carlos; Marin, Raul; Robinson, Mike; Ribas, David; Ridao, Pere
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Título
Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water InterventionAutoría
Fecha de publicación
2013Editor
Institute of Electrical and Electronics Engineers (IEEE)ISSN
1070-9932; 1558-223XCita bibliográfica
Robotics & Automation Magazine, IEEE (Volume:20 , Issue: 4 )Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://ieeexplore.ieee.org/search/searchresult.jsp?newsearch=true&queryText=Gras ...Palabras clave / Materias
Resumen
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 ... [+]
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. [-]
Publicado en
Robotics & Automation Magazine, IEEE, 2013, vol. 20, no 4Derechos de acceso
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