Abstract
Manipulator is of vital importance to the remotely operated vehicle (ROV), especially when it works in the nuclear reactor pool. Two degrees of freedom (2-DOF) underwater manipulator is designed to the ROV, which is composed of control cabinet, buoyancy module, propellers, depth gauge, sonar, a monocular camera and other attitude sensors. The manipulator can be used to salvage small parts like bolts and nuts to accelerate the progress of the overhaul. It can move in the vertical direction alone through the control of the second joint, and can grab object using its unique designed gripper. A monocular vision based localization algorithm is applied to help the manipulator work independently and intelligently. Eventually, field experiment is conducted in the swimming pool to verify the effectiveness of the manipulator and the monocular vision based algorithm.
Highlights
These guidelines, Underwater research and development has becoming faster and faster during the last decade
The manipulator mounted on the remotely operated vehicle (ROV) is expected to play an important role for complex tasks, such as grabbing small parts like bolts and nuts in the nuclear reactor pool
The monocular vision based localization algorithm and experiments are displayed in Section 3 and Section 4, respectively
Summary
These guidelines, Underwater research and development has becoming faster and faster during the last decade. The extreme conditions such as high water pressure, invisibility and non-oxygen become great barriers for human to access directly [1]. Underwater robots are expected and developed as efficient tools for the operation instead of human beings, and ROV is just one of them. The manipulator mounted on the ROV is expected to play an important role for complex tasks, such as grabbing small parts like bolts and nuts in the nuclear reactor pool.
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