Underwater Human Arm Manipulator – System Calibration

• Autorzy: Babiarz Artur , Bieda Robert , Grzejszczak Tomasz , Jaskot Krzysztof , Kozyra Andrzej , Ściegienka Piotr

Identyfikatory

DOI

10.12913/22998624/183569

• Języki publikacji: EN

Abstrakty

EN

Controlling a remotely operated underwater vehicle (ROV) is an extremely challenging task that requires precise maneuvering and navigation in complex and often unpredictable environments. The operator faces numerous difficulties, including limited visibility and communication constraints, and the need to interpret data from various sensors. This paper describes a method for calibration of a wearable system equipped with inertial measurement unit (IMU) sensors that control the underwater manipulators. To implement a solution that allows the robot to be controlled by the operator's hand movements, it is necessary to measure the movement of the arm. This task is carried out using the IMU sensors, which are mounted in appropriate places on the ROV operator's suit to allow mapping the movement of his/her upper limbs. These movements are transferred to the manipulator's arms on the ROV, making it possible to interact with the environment by - manipulating objects under-water.

Słowa kluczowe

EN

ROV; underwater manipulator; IMU; calibration; human machine interface

• Wydawca: Lublin University of Technology ; Polish Society of Ecological Engineering (PTIE), Branch of PTIE in Lublin
• Czasopismo: Advances in Science and Technology. Research Journal
• Rocznik: 2024
• Tom: Vol. 18, no 2
• Strony: 36--46
• Opis fizyczny: Bibliogr. 28 poz., fig., tab.

Twórcy

autor

Babiarz Artur

• Department of Automatic Control and Robotics, Silesian University of Technology, ul. Akademicka 16, 44-100 Gliwice, Poland

• https://orcid.org/0000-0002-7841-7151

autor

Bieda Robert

• Department of Automatic Control and Robotics, Silesian University of Technology, ul. Akademicka 16, 44-100 Gliwice, Poland

• https://orcid.org/0000-0001-7485-0073

autor

Grzejszczak Tomasz

• Department of Automatic Control and Robotics, Silesian University of Technology, ul. Akademicka 16, 44-100 Gliwice, Poland

• https://orcid.org/0000-0002-1114-3619

autor

Jaskot Krzysztof

• Department of Automatic Control and Robotics, Silesian University of Technology, ul. Akademicka 16, 44-100 Gliwice, Poland

• https://orcid.org/0000-0001-9557-9366

autor

Kozyra Andrzej

• Department of Automatic Control and Robotics, Silesian University of Technology, ul. Akademicka 16, 44-100 Gliwice, Poland

• https://orcid.org/0000-0003-2645-3537

autor

Ściegienka Piotr

• SR Robotics Sp. z o.o., ul. Lwowska 38, 40-389 Katowice, Poland

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).