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System design of an ROV with manipulators and adaptive control of it
- Authors
- Lee, P.-M.; Jeon, B.-H.; Hong, S.-W.; Lim, Y.-K.; Lee, C.-M.; Park, J.-W.; Lee, C.-M.
- Issue Date
- 2000
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000, pp 431 - 436
- Pages
- 6
- Journal Title
- Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000
- Start Page
- 431
- End Page
- 436
- ISSN
- 0000-0000
- Abstract
- A remotely operated vehicle (ROV) equipped with two manipulators and an underwater stereo camera is being developed in KRISO (Korea Research Institute of Ships and Ocean Engineering) for seabed working. This paper describes the preliminary design of the ROV. An underwater stereo camera has been developed to enhance the working efficiency of the ROV with the manipulator in seabed operation. This paper presents the operational principle and the structure of the underwater stereo camera. The stereo camera consists of two CCD cameras and horizontally moving base, and it is embedded in a small pressure canister for underwater application. This paper also evaluates the implementation of an adaptive controller to the tracking control of the ROV/manipulator system. ？ 2000 IEEE.
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Collections - 해양플랜트연구본부 > Deep Ocean Engineering Research Center > 1. Journal Articles
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