A Novel Lightweight Underwater Manipulator Based on ROS2 for Reliable Intervention

摘要

Underwater manipulators are essential for the inspection and maintenance of underwater structures, requiring both compliance and safe intervention. Thus, we have developed a novel lightweight underwater manipulator based on ROS2 to safely interact with underwater environments. Firstly, the new underwater manipulator is designed with 6-DoF, equipped with a 6-axis F/ T sensor, binocular camera, and various end-effectors. Then, a ROS2-based control system is implemented for robot admittance control, underwater image acquisition, and teleoperation. Underwater experiments on automated contact and teleoperated contact with the environment were conducted in a laboratory pool. The novel underwater manipulator, employing admittance control and teleoperation methods, demonstrates its effectiveness and facilitates reliable intervention during underwater structure inspection and maintenance.