Teleoperated valve turning using Girona500 AUV

From the 3rd to the 7th of June, members of the team at IIT came to the University of Girona to do some tests with the Girona500 equipped with a manipulator.

Arnau Carrera (UdG), Matte Leonetti (IIT) and Nawid Jamal (IIT) during the experiments in the UdG water tank
Arnau Carrera (UdG), Matte Leonetti (IIT) and Nawid Jamali (IIT) during the experiments in the UdG water tank

In this short space of time, the two teams worked on integrating a haptic device to teleoperate the Girona500 AUV and the manipulator. Once the integration was completed, several trials were performed to demonstrate the task. These experiments have highlighted some weak points in the first theoretical approach and provides the opportunity to improve on this work.

There was also discussion relating to the integration of the force torque sensor, and a decision was made to add a camera to the hand on the manipulator. Furthermore, some experiments involving thruster failures in the Girona500 AUV were performed.


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