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Underwater manipulators: a review

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Show simple item record Sivčev, Satja Coleman, Joseph Omerdić, Edin Dooly, Gerard Toal, Daniel 2018-07-16T10:55:13Z 2018-07-16T10:55:13Z 2018
dc.description peer-reviewed en_US
dc.description.abstract This paper describes the state-of-the art in the area of underwater robot manipulator systems. A brief introduction is given on the use of manipulators in various offshore industries for different subsea intervention applications. It provides a comprehensive summary of existing commercial and prototype underwater manipulators, covering relevant aspects such as design features, their capabilities and merits, and provides a detailed comparison. This is followed by a thorough analysis of advantages and disadvantages of both electrically and hydraulically actuated manipulators. Furthermore, a detailed description of commercially available underwater manipulator control systems is presented in order to provide a realistic picture of the existing technology and its limitation. In addition, an extensive bibliography covering research results in the field of control algorithms is presented, including low level motion control, high level kinematic control and motion planning schemes along with the implementation issues. en_US
dc.language.iso eng en_US
dc.publisher Elsevier en_US
dc.relation.ispartofseries Ocean Engineering;163 pp 431-450
dc.subject underwater manipulation en_US
dc.subject manipulator control en_US
dc.subject robot arm en_US
dc.subject marine robotics en_US
dc.subject ROV en_US
dc.title Underwater manipulators: a review en_US
dc.type info:eu-repo/semantics/article en_US
dc.type.supercollection all_ul_research en_US
dc.type.supercollection ul_published_reviewed en_US
dc.identifier.doi 10.1016/ j.coelec.2017.09.011
dc.contributor.sponsor SFI
dc.contributor.sponsor Resolve Marine Group
dc.contributor.sponsor Shannon Foynes Port Company
dc.contributor.sponsor Teledyne Blueview
dc.contributor.sponsor Teledyne Reason and The Commissioners of Irish Lights
dc.relation.projectid 12/RC/2302
dc.relation.projectid 14/SP/2740
dc.rights.accessrights info:eu-repo/semantics/openAccess en_US

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