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Proceedings of the Thirty-second (2022) International Ocean and Polar Engineering Conference
Shanghai, China, June 5–10, 2022
Copyright © 2022 by the International Society of Offshore and Polar Engineers (ISOPE)
ISBN 978-1-880653-81-4; ISSN 1098-6189

Research on AUV Recovery by Use of Manipulator Based on Vision Servo
GuangJie Zhang1, Guoyuan Tang1*, Daomin Huang2, Yanmin Huang1
1School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, Hubei Province, China
2 Department of Early- warning Technology, Air Force Early Warning Academy, Wuhan, Hubei Province, China*Corresponding authorgroup of the manipulator is configured through motion planning
framework(Moveit). the grasping scene containing the manipulator andthe target is established, and the grasping program is written by using
the target information of visual feedback to complete the AUV
capturing task.

ABSTRACT
For the problem of recycling AUV with manipulator, this paper starts
from the aspects of kinematics modeling of manipulator, visual
perception of target position, trajectory tracking control. Based on
ROS to construct a simulation environment, and release visual
information through camera sensors for trajectory planning. Thecontroller is customized to achieve the desired trajectory tracking,verifying the feasibility of completing the manipulator recovery task
based on visual perception.

KINEMATICS MODELING OF MANIPULATOR
The relative position of the tool coordinate system at the end of themanipulator can be calculated by forward kinematics through the pose
information of each joint link. The DH method is commonly used todescribe the relationship between joints, where ai 1 represents theKEY WORDS: Manipulator; Vision servo; ROS.

distance from the joint i  1 rotation axis zi 1 to the common

INTRODUCTION

perpendicular of the joint i rotation axis z i ,  i 1 represents therequired torsion angle from zi 1 to z i ,  i represents the torsion angle

As an underwater operation platform that integrates multiple functions,
AUV plays an important role in the field of marine operations. Due toits limited power source, it is a common and effective application
scheme to carry out operations on various underwater vehicles throughmultiple deployment and recovery. Respawning AUV by manipulator
has the advantages of high automation and good mobility. In the faceof large disturbances in the underwater environment and long system
convergence time, the performance of the manipulator under water isgreatly limited. Based on this background, this paper discusses how toplan the movement trajectory of the manipulator through visualperception, track the desired trajectory using a sliding mode controller
to adjust the pose of the end tool to complete the grasping operation.
The research contents include:(1) Simulation and modeling of 6-DOF manipulator. Use XML
language to define the kinematics coordinate transformation of themanipulator, the transmission elements between the joints and links,
the collision volume, etc. according to the unified robot description
format (URDF). The consistency between the end-pose of themanipulator model in 3D visualization tool for ROS(rviz) and the pose
under forward kinematics solution under the same Transform(TF)
matrix was compared to verify the accuracy of the modeling.
(2) The camera is used to locate the target position and pose
information through visual positioning algorithm, and the inverse
kinematics solver is used to calculate the coordinate position of thecaptured target and the effective grasp position and pose.
(3) In the robot operating system (ROS) platform, the link planningfrom the common perpendicular ai 1 to the common perpendicular ai ,and d i represents the translation distance of ai 1 along z i to ai .
Take UR10 manipulator produced by UR Robot Company as theresearch object, and its D-H parameter table is shown in Table 1.
Table 1. UR10 D-H parameter tablejointai 1

 i 1dii0 mm0127.3 mm(  ,  )0 mm0 mm(  ,  )-612 mm
00 mm(  ,  )-572.30163.941(  ,  )mmmm
wrist_2_joint
0 mm
115.7 mm(  ,  )wrist_3_joint
0 mm
92.2 mm(  ,  )According to the D-H parameter table, the UR10 manipulator model isconstructed through XML language.
Use a 4×4 transformation matrix to represent the coordinate positionsof adjacent joints as shown in Equations 1. Where C means cos ,S means sin  .
shoulderupper_arm
forearm
wrist_1_joint

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