Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


E. Marchand, F. Chaumette, F. Spindler, M. Perrier. Controlling an uninstrumented ROV manipulator by visual servoing. In MTS/IEEE OCEANS 2001 Conference, Volume 2, Pages 1047-1053, Honolulu, Hawaii, November 2001.

Download [help]

Download paper: Adobe portable document (pdf) pdf

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.


In this paper we present a vision-based method to control the displacement of robot arm mounted on an underwater ROV. A closed-loop system based on an eye-to-hand visual servoing approach has been designed to achieve this task. We show that, using such an approach, measuring the manipulator motion with proprioceptive sensors is not required to precisely control the end-effector motion. To maintain the end effector in the field of view, the camera orientation is also controlled. Presented results show the validity of the approach

BibTex Reference

   Author = {Marchand, E. and Chaumette, F. and Spindler, F. and Perrier, M.},
   Title = {Controlling an uninstrumented ROV manipulator by visual servoing},
   BookTitle = {MTS/IEEE OCEANS 2001 Conference},
   Volume = {2},
   Pages = {1047--1053},
   Address = {Honolulu, Hawaii},
   Month = {November},
   Year = {2001}

EndNote Reference [help]

Get EndNote Reference (.ref)

This document was translated automatically from BibTEX by bib2html (Copyright 2003 © Eric Marchand, INRIA, Vista Project).