DocumentCode
2800849
Title
Development and Control of an Underwater Manipulator for AUV
Author
Ishitsuka, Makoto ; Ishii, Kazuo
Author_Institution
Kyushu Inst. of Technol., Fukuoka
fYear
2007
fDate
17-20 April 2007
Firstpage
337
Lastpage
342
Abstract
This paper describes development & control of underwater manipulator for autonomous underwater vehicle (AUV). First, we simulated motion of the robot. We designed manipulator using magnetic coupling mechanism for waterproof, and as one module including motor and motor driver. The system of AUV was developed using module system for easy connecting, simplification of wiring and improvement of reliability of connection. Finally, we developed AUV system and manipulator.
Keywords
manipulator dynamics; mobile robots; underwater vehicles; AUV; autonomous underwater vehicle; magnetic coupling mechanism; motion simulation; underwater manipulator; Angular velocity; Couplings; Gravity; Intelligent robots; Manipulator dynamics; Robot kinematics; Robotics and automation; Tensile stress; Underwater vehicles; Vehicle dynamics; Dynamic Manipulability; Resolved Accerelation Control; Underwater Vehicle-Manipulator System;
fLanguage
English
Publisher
ieee
Conference_Titel
Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies, 2007. Symposium on
Conference_Location
Tokyo
Print_ISBN
1-4244-1207-2
Electronic_ISBN
1-4244-1208-0
Type
conf
DOI
10.1109/UT.2007.370800
Filename
4231130
Link To Document