Autonomous underwater panel operation by GIRONA500 UVMS: A practical approach to autonomous underwater manipulation

This paper proposes a controller for the GIRONA500 Underwater Vehicle Manipulator System and reports experimental results for an autonomous floating-base valve-turning manipulation application. The selected method is based on kinematic control, avoiding the need for a complex, and difficult to obtain, hydrodynamic model. The method relies on the decoupled control of the vehicle and manipulator velocities using a combination of the task priority redundancy resolution and the task concurrence approaches. The paper discusses the manipulation tasks needed, their hierarchical organisation, and a set of strategies that were needed to complement the `standard' task-priority approach to successfully solve the floating-base manipulation problem in water tank experimental conditions.

[1]  Pedro J. Sanz,et al.  Advances in the specification and execution of underwater autonomous manipulation tasks , 2011, OCEANS 2011 IEEE - Spain.

[2]  H. H. Wang,et al.  Experiments in automatic retrieval of underwater objects with an AUV , 1995, 'Challenges of Our Changing Global Environment'. Conference Proceedings. OCEANS '95 MTS/IEEE.

[3]  T. Yoshikawa,et al.  Task-Priority Based Redundancy Control of Robot Manipulators , 1987 .

[4]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[5]  Marc Carreras,et al.  Girona 500 AUV: From Survey to Intervention , 2012, IEEE/ASME Transactions on Mechatronics.

[6]  Penny Probert Smith,et al.  UNION: underwater intelligent operation and navigation , 1998, IEEE Robotics Autom. Mag..

[7]  Gabriel Oliver,et al.  I-AUV docking and intervention in a subsea panel , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  K. Hamilton,et al.  Autonomous docking for Intervention-AUVs using sonar and video-based real-time 3D pose estimation , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[9]  Yoshihiko Nakamura,et al.  Advanced robotics - redundancy and optimization , 1990 .

[10]  Junku Yuh,et al.  Experimental study on an underwater robotic vehicle: ODIN , 1994, Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94).

[11]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

[12]  Antonella Ferrara,et al.  AMADEUS: advanced manipulation for deep underwater sampling , 1997, IEEE Robotics Autom. Mag..

[13]  Marc Carreras,et al.  Towards valve turning with an AUV using Learning by Demonstration , 2013, 2013 MTS/IEEE OCEANS - Bergen.

[14]  Natàlia Hurtós,et al.  Learning by demonstration applied to underwater intervention , 2014, CCIA.

[15]  Jean-Jacques E. Slotine,et al.  A general framework for managing multiple tasks in highly redundant robotic systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[16]  Junku Yuh,et al.  Introduction to Autonomous Manipulation - Case Study with an Underwater Robot, SAUVIM , 2014, Springer Tracts in Advanced Robotics.

[17]  P. Ridao,et al.  Multipurpose autonomous underwater intervention: A systems integration perspective , 2012, 2012 20th Mediterranean Conference on Control & Automation (MED).