Abstract
This paper presents an intervention payload for an AUV working in a valve turning operation in free-floating control mode. The payload consists of a stereo camera for panel detection, a 4 degrees of freedom electrical manipulator and a specifically designed end-effector, which contains a force and torque sensor, an in-hand camera and a passive effector for valve operation. This payload was designed to be integrated in Girona 500 AUV in the context of an oil application, in which a valve panel must be operated by turning some of the T-bar handles. The paper describes the design of the payload and its interaction with AUV. It also describes the perception systems that have been developed to detect and operate the valves. Experiments in a water tank show the performance of the AUV and the suitability of the payload.
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Acknowledgments
This research was sponsored by PANDORA EU FP7-Project under the Grant agreement FP7-ICT-2011-7-288273. We are grateful for this support.
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Carreras, M. et al. (2015). Intervention Payload for Valve Turning with an AUV. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2015. EUROCAST 2015. Lecture Notes in Computer Science(), vol 9520. Springer, Cham. https://doi.org/10.1007/978-3-319-27340-2_107
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DOI: https://doi.org/10.1007/978-3-319-27340-2_107
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