not-yet-known
not-yet-known
not-yet-known
unknown
Robust Ship-to-Ship Object Pick-up with a 6-DoF Robotic Arm Based on
Force/Torque Measurement and Gripper Design
Abstract
In this paper, we present a method for the manipulation of
objects in maritime environments, in particular for the transportation
of objects between two docked ships using a 6-DoF robotic arm. The
presented method uses RGBD camera mounted on the robot arm end effector
to localize the object with respect to the robot arm base. The design of
a gripper, and a control method based on force and torque measurements
provide a robust method for picking up object, that can compensate the
influence of relative ship motion due to waves and localization error.
The components of the proposed method, as well as the entire
manipulation procedure have been tested both in a laboratory environment
and in a real-world maritime environments scenario and have shown that
the solution works reliably.
