Abstract
Robotic manipulators for the Underwater Vehicle-Manipulator System (UVMS) are designed to execute tasks such as handling and catching objects. Moreover, a vision system using cameras is becoming a necessity for assisting robot operator in underwater manipulation. Therefore, it is necessary to equip UVMS with camera vision system that can observe and measure the position of the target object. We have been developing a stereo vision system using cameras that are able to pan, and tilt individually using RC servo motors. In this paper, we will describe the results of performance comparison between P and PI controller on controlling the pan and tilt servo motors to measure the position of an object.
