Set-Based Inverse Kinematics control of an UVMS within the DexROV project

摘要

In this paper we describe the algorithm developed for the motion control of an UVMS (Underwater Vehicle-Manipulator System) within DexROV, a funded EC Horizon 2020 project that proposes to enable the far distance teleoperation of an UVMS via satellite communication. The main use case scenario is the maintenance of Oil&Gas underwater platforms. During subsea oil operations, the robotic system has to be able to navigate to the panel location and manipulate handles, rotate valves, plug and unplug connectors. The DexROV system has two operational modes: fixed-base and floating-base manipulation. In floating-base manipulation the system is not clamped to any structure and it can move both the manipulator and the vehicle at the same time in order to perform the needed tasks. The control relies on a Task Priority Inverse Kinematics framework that has been extended in order to handle both equality-based and set-based tasks. Simulations performed in the Gazebo simulator show the effectiveness of the proposed approach.