Modularity development and control of an underwater manipulator for AUV

This paper is development and control of an underwater manipulator for autonomous underwater vehicle (AUV). First, we simulated motion of the manipulator and AUV to reach target position and decided parameter of manipulator using simulation results. The manipulator was designed using magnetic coupli...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3648 - 3653
Main Authors Ishitsuka, M., Ishii, K.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.10.2007
Subjects
Connectors
Couplings
Joining processes
Magnetic forces
Manipulators
Packaging
Power system reliability
Robots
Underwater vehicles
Wiring
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4399470

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Summary:This paper is development and control of an underwater manipulator for autonomous underwater vehicle (AUV). First, we simulated motion of the manipulator and AUV to reach target position and decided parameter of manipulator using simulation results. The manipulator was designed using magnetic coupling mechanism for waterproof that uses magnetic force for transporting power over the wall, and as one module including motor and motor driver to need only power source and communication in the robot. The system of AUV was developed using module system for easy connecting, simplification of wiring and improvement of reliability of connection. Module system is small packaging system with small function and connectors using for connecting another module. Finally, the AUV system and the manipulator were developed using module system.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399470