Underwater Human Arm Manipulator – System Calibration

Abstract

Controlling a remotely operated underwater vehicle (ROV) is an extremely challenging task that requires precise maneuvering and navigation in complex as well as often unpredictable environments. The operator faces numer - ous difficulties, including limited visibility and communication constraints, in addition to the need to interpret data from various sensors. This paper describes a method for calibration of a wearable system equipped with inertial measurement unit (IMU) sensors that control the underwater manipulators. To implement a solution that allows the robot to be controlled by the operator’s hand movements, it is necessary to measure the movement of the arm. This task is carried out using the IMU sensors, which are mounted in appropriate places on the ROV operator’s suit to allow mapping the movement of his/her upper limbs. These movements are transferred to the manipulator’s arms on the ROV, making it possible to interact with the environment by – manipulating objects under-water.