Title :
Development and Control of an Underwater Manipulator for AUV
Author :
Ishitsuka, Makoto ; Ishii, Kazuo
Author_Institution :
Kyushu Inst. of Technol., Fukuoka
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;
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
DOI :
10.1109/UT.2007.370800
