Development and control of an underwater manipulator for AUV

被引：10
作者：
Ishitsuka, Makoto [1 ]
Ishii, Kazuo [1 ]
机构：
[1] Kyushu Inst Technol, Dept Brain Sci & Engn, 2-4 Wakamatsu, Fukuoka 8080196, Japan
来源：
2007 SYMPOSIUM ON UNDERWATER TECHNOLOGY AND WORKSHOP ON SCIENTIFIC USE OF SUBMARINE CABLES AND RELATED TECHNOLOGIES, VOLS 1 AND 2 | 2007年
关键词：
underwater vehicle-manipulator system; resolved accerelation control; dynamic manipulability;
D O I：
10.1109/UT.2007.370800
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：337 / +
页数：2
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