This paper describes the structure of an innovative robotic platform that integrates a small work-class ROV, a micro-ROV and a dexterous manipulator. The main feature of the robotic structure is to facilitate underwater tele-manipulation by assisting the operator in piloting the manipulator end-effector and by implementing monitoring procedures that increase situation awareness. Automatic control solutions and guidelines in the development of the robotic platform are illustrated and discussed.
A robotic platform for underwater assisted manipulation
CASALINO, GIUSEPPE;SIMETTI, ENRICO;SPERINDE', ALESSANDRO;TORELLI, SANDRO
2016-01-01
Abstract
This paper describes the structure of an innovative robotic platform that integrates a small work-class ROV, a micro-ROV and a dexterous manipulator. The main feature of the robotic structure is to facilitate underwater tele-manipulation by assisting the operator in piloting the manipulator end-effector and by implementing monitoring procedures that increase situation awareness. Automatic control solutions and guidelines in the development of the robotic platform are illustrated and discussed.
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