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

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.