Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics

Autores
Santos, Phillipe C.; Freire, Raimundo C. S.; Carvalho, Elyson A. N.; Molina, Lucas; Oliveira Freire, Eduardo; Santos, Matheus C.; Weir, Anthony; Trslic, Petar; Omerdic, Edin; Dooly, Gerard; Toal, Daniel
Año de publicación
2023
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
The use of underwater vehicle manipulator systems (UVMS) equipped with cameras has gained significant attention due to their capacity to perform underwater tasks autonomously. However, controlling both the manipulator and the remotely operated vehicle (ROV) based on the vision system information is not an easy task, especially in situations where the vehicle cannot be parked/held stationary. Most of the existing approaches work based on complex matrix calculations for the inverse kinematics (IK), which can lead to high computational costs and the need to deal with singularity problems. A problem arises when the amount of time needed to calculate the UVMS configuration can result in reduced frequency of target pose estimation, beyond the point where the target has moved out of the camera field of view. Therefore, this paper proposes an autonomous visual servoing approach for UVMS, including an extension of a heuristic technique named M-FABRIK (Mobile - Forward and Backward Reaching IK) to calculate the UVMS inverse kinematics in a simple and fast way. This approach aims to control both the configuration of the manipulator and ROV position in order to allow underwater intervention in situations where the ROV cannot be parked/held stationary. This solution allows the vehicle to be positioned according to additional criteria, besides avoiding matrix inversion and being robust to singularities. Trials have been performed with a manipulator mounted on a work-class ROV for an autonomous underwater monitoring task and results demonstrate a simple and fast approach, which is able to set the configuration of the manipulator as well as the ROV for visual servoing applications in real-time, such as for monitoring, tracking and intervention tasks underwater.
Fil: Santos, Phillipe C.. University Of Limerick; Irlanda. Instituto Federal de Sergipe; Brasil
Fil: Freire, Raimundo C. S.. Universidade Federal de Campina Grande; Brasil
Fil: Carvalho, Elyson A. N.. Universidade Federal de Sergipe; Brasil
Fil: Molina, Lucas. Universidade Federal de Sergipe; Brasil
Fil: Oliveira Freire, Eduardo. Universidade Federal de Sergipe; Brasil. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tucumán. Instituto Superior de Investigaciones Biológicas. Universidad Nacional de Tucumán. Instituto Superior de Investigaciones Biológicas; Argentina
Fil: Santos, Matheus C.. University Of Limerick; Irlanda
Fil: Weir, Anthony. University Of Limerick; Irlanda
Fil: Trslic, Petar. University Of Limerick; Irlanda
Fil: Omerdic, Edin. University Of Limerick; Irlanda
Fil: Dooly, Gerard. University Of Limerick; Irlanda
Fil: Toal, Daniel. University Of Limerick; Irlanda
Materia
Underwater vehicles manipulator systems
Inverse kinematics
M-FABRIK
Robotics
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/265167
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/265167
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network_name_str CONICET Digital (CONICET)
spelling Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse KinematicsSantos, Phillipe C.Freire, Raimundo C. S.Carvalho, Elyson A. N.Molina, LucasOliveira Freire, EduardoSantos, Matheus C.Weir, AnthonyTrslic, PetarOmerdic, EdinDooly, GerardToal, DanielUnderwater vehicles manipulator systemsInverse kinematicsM-FABRIKRoboticshttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2The use of underwater vehicle manipulator systems (UVMS) equipped with cameras has gained significant attention due to their capacity to perform underwater tasks autonomously. However, controlling both the manipulator and the remotely operated vehicle (ROV) based on the vision system information is not an easy task, especially in situations where the vehicle cannot be parked/held stationary. Most of the existing approaches work based on complex matrix calculations for the inverse kinematics (IK), which can lead to high computational costs and the need to deal with singularity problems. A problem arises when the amount of time needed to calculate the UVMS configuration can result in reduced frequency of target pose estimation, beyond the point where the target has moved out of the camera field of view. Therefore, this paper proposes an autonomous visual servoing approach for UVMS, including an extension of a heuristic technique named M-FABRIK (Mobile - Forward and Backward Reaching IK) to calculate the UVMS inverse kinematics in a simple and fast way. This approach aims to control both the configuration of the manipulator and ROV position in order to allow underwater intervention in situations where the ROV cannot be parked/held stationary. This solution allows the vehicle to be positioned according to additional criteria, besides avoiding matrix inversion and being robust to singularities. Trials have been performed with a manipulator mounted on a work-class ROV for an autonomous underwater monitoring task and results demonstrate a simple and fast approach, which is able to set the configuration of the manipulator as well as the ROV for visual servoing applications in real-time, such as for monitoring, tracking and intervention tasks underwater.Fil: Santos, Phillipe C.. University Of Limerick; Irlanda. Instituto Federal de Sergipe; BrasilFil: Freire, Raimundo C. S.. Universidade Federal de Campina Grande; BrasilFil: Carvalho, Elyson A. N.. Universidade Federal de Sergipe; BrasilFil: Molina, Lucas. Universidade Federal de Sergipe; BrasilFil: Oliveira Freire, Eduardo. Universidade Federal de Sergipe; Brasil. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tucumán. Instituto Superior de Investigaciones Biológicas. Universidad Nacional de Tucumán. Instituto Superior de Investigaciones Biológicas; ArgentinaFil: Santos, Matheus C.. University Of Limerick; IrlandaFil: Weir, Anthony. University Of Limerick; IrlandaFil: Trslic, Petar. University Of Limerick; IrlandaFil: Omerdic, Edin. University Of Limerick; IrlandaFil: Dooly, Gerard. University Of Limerick; IrlandaFil: Toal, Daniel. University Of Limerick; IrlandaSpringer2023-03info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/265167Santos, Phillipe C.; Freire, Raimundo C. S.; Carvalho, Elyson A. N.; Molina, Lucas; Oliveira Freire, Eduardo; et al.; Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics; Springer; Journal of Intelligent & Robotic Systems; 107; 3; 3-2023; 1-160921-02961573-0409CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://link.springer.com/10.1007/s10846-023-01827-0info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-023-01827-0info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:01:56Zoai:ri.conicet.gov.ar:11336/265167instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-10 13:01:56.573CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
title Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
spellingShingle Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
Santos, Phillipe C.
Underwater vehicles manipulator systems
Inverse kinematics
M-FABRIK
Robotics
title_short Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
title_full Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
title_fullStr Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
title_full_unstemmed Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
title_sort Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
dc.creator.none.fl_str_mv Santos, Phillipe C.
Freire, Raimundo C. S.
Carvalho, Elyson A. N.
Molina, Lucas
Oliveira Freire, Eduardo
Santos, Matheus C.
Weir, Anthony
Trslic, Petar
Omerdic, Edin
Dooly, Gerard
Toal, Daniel
author Santos, Phillipe C.
author_facet Santos, Phillipe C.
Freire, Raimundo C. S.
Carvalho, Elyson A. N.
Molina, Lucas
Oliveira Freire, Eduardo
Santos, Matheus C.
Weir, Anthony
Trslic, Petar
Omerdic, Edin
Dooly, Gerard
Toal, Daniel
author_role author
author2 Freire, Raimundo C. S.
Carvalho, Elyson A. N.
Molina, Lucas
Oliveira Freire, Eduardo
Santos, Matheus C.
Weir, Anthony
Trslic, Petar
Omerdic, Edin
Dooly, Gerard
Toal, Daniel
author2_role author
author
author
author
author
author
author
author
author
author
dc.subject.none.fl_str_mv Underwater vehicles manipulator systems
Inverse kinematics
M-FABRIK
Robotics
topic Underwater vehicles manipulator systems
Inverse kinematics
M-FABRIK
Robotics
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv The use of underwater vehicle manipulator systems (UVMS) equipped with cameras has gained significant attention due to their capacity to perform underwater tasks autonomously. However, controlling both the manipulator and the remotely operated vehicle (ROV) based on the vision system information is not an easy task, especially in situations where the vehicle cannot be parked/held stationary. Most of the existing approaches work based on complex matrix calculations for the inverse kinematics (IK), which can lead to high computational costs and the need to deal with singularity problems. A problem arises when the amount of time needed to calculate the UVMS configuration can result in reduced frequency of target pose estimation, beyond the point where the target has moved out of the camera field of view. Therefore, this paper proposes an autonomous visual servoing approach for UVMS, including an extension of a heuristic technique named M-FABRIK (Mobile - Forward and Backward Reaching IK) to calculate the UVMS inverse kinematics in a simple and fast way. This approach aims to control both the configuration of the manipulator and ROV position in order to allow underwater intervention in situations where the ROV cannot be parked/held stationary. This solution allows the vehicle to be positioned according to additional criteria, besides avoiding matrix inversion and being robust to singularities. Trials have been performed with a manipulator mounted on a work-class ROV for an autonomous underwater monitoring task and results demonstrate a simple and fast approach, which is able to set the configuration of the manipulator as well as the ROV for visual servoing applications in real-time, such as for monitoring, tracking and intervention tasks underwater.
Fil: Santos, Phillipe C.. University Of Limerick; Irlanda. Instituto Federal de Sergipe; Brasil
Fil: Freire, Raimundo C. S.. Universidade Federal de Campina Grande; Brasil
Fil: Carvalho, Elyson A. N.. Universidade Federal de Sergipe; Brasil
Fil: Molina, Lucas. Universidade Federal de Sergipe; Brasil
Fil: Oliveira Freire, Eduardo. Universidade Federal de Sergipe; Brasil. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tucumán. Instituto Superior de Investigaciones Biológicas. Universidad Nacional de Tucumán. Instituto Superior de Investigaciones Biológicas; Argentina
Fil: Santos, Matheus C.. University Of Limerick; Irlanda
Fil: Weir, Anthony. University Of Limerick; Irlanda
Fil: Trslic, Petar. University Of Limerick; Irlanda
Fil: Omerdic, Edin. University Of Limerick; Irlanda
Fil: Dooly, Gerard. University Of Limerick; Irlanda
Fil: Toal, Daniel. University Of Limerick; Irlanda
description The use of underwater vehicle manipulator systems (UVMS) equipped with cameras has gained significant attention due to their capacity to perform underwater tasks autonomously. However, controlling both the manipulator and the remotely operated vehicle (ROV) based on the vision system information is not an easy task, especially in situations where the vehicle cannot be parked/held stationary. Most of the existing approaches work based on complex matrix calculations for the inverse kinematics (IK), which can lead to high computational costs and the need to deal with singularity problems. A problem arises when the amount of time needed to calculate the UVMS configuration can result in reduced frequency of target pose estimation, beyond the point where the target has moved out of the camera field of view. Therefore, this paper proposes an autonomous visual servoing approach for UVMS, including an extension of a heuristic technique named M-FABRIK (Mobile - Forward and Backward Reaching IK) to calculate the UVMS inverse kinematics in a simple and fast way. This approach aims to control both the configuration of the manipulator and ROV position in order to allow underwater intervention in situations where the ROV cannot be parked/held stationary. This solution allows the vehicle to be positioned according to additional criteria, besides avoiding matrix inversion and being robust to singularities. Trials have been performed with a manipulator mounted on a work-class ROV for an autonomous underwater monitoring task and results demonstrate a simple and fast approach, which is able to set the configuration of the manipulator as well as the ROV for visual servoing applications in real-time, such as for monitoring, tracking and intervention tasks underwater.
publishDate 2023
dc.date.none.fl_str_mv 2023-03
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/265167
Santos, Phillipe C.; Freire, Raimundo C. S.; Carvalho, Elyson A. N.; Molina, Lucas; Oliveira Freire, Eduardo; et al.; Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics; Springer; Journal of Intelligent & Robotic Systems; 107; 3; 3-2023; 1-16
0921-0296
1573-0409
CONICET Digital
CONICET
url http://hdl.handle.net/11336/265167
identifier_str_mv Santos, Phillipe C.; Freire, Raimundo C. S.; Carvalho, Elyson A. N.; Molina, Lucas; Oliveira Freire, Eduardo; et al.; Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics; Springer; Journal of Intelligent & Robotic Systems; 107; 3; 3-2023; 1-16
0921-0296
1573-0409
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://link.springer.com/10.1007/s10846-023-01827-0
info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-023-01827-0
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 12.993085

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