Realtime motion compensation for ROV-based teleoperated underwater manipulators

Marc Hildebrandt, Leif Christensen, Jochen Kerdels, Jan Albiez, Frank Kirchner

In: OCEANS 2009 - EUROPE, 2009 OCEANS 09. OCEANS MTS/IEEE Conference (OCEANS-09) Balancing technology with future needs May 11-14 Bremen Germany ISBN 978-1-4244-2523-5 5/2009.


ROV-based manipulators are one of the few possibilities to manipulate objects in the deep-sea environment. With increasing demand for facilities and structures in depths beyond the access of traditional divers and the increasing complexity of such structures, the challenges and applications for manipulator systems are steadily increasing. In order to match these requirements either new manipulation paradigms or novel control systems are imperative. This paper focuses on the possibility to assist human operators in complex tasks executed with ROV-based tele-operated manipulators by introducing a motion-compensation layer between the operator and the manipulator, greatly improving the performance of such systems.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence