Visual servoing of a 2-link underwater robot manipulator

摘要

Robust control methods for underwater manipulators are needed for development of next generation, autonomous underwater vehicle-manipulator systems. For manipulation and intervention in uncertain hydrodynamic environments, vision-based positioning and tracking are essential tasks. In this research, a visual servoing control system is proposed for a two-link electrically actuated underwater manipulator. Results of PID position and tracking control using visual feedback in a laboratory water tank are presented for a two-link prototype manipulator to illustrate the effectiveness of the proposed method.