System of Automatically Correction of Program Trajectory of Motion of Multilink Manipulator Installed on Underwater Vehicle

Abstract

In this work method of synthesis of system of automatic correction of program trajectory of motion of multilink manipulator installed on underwater vehicle was discussed. Developed system allows solving problem of fast and high quality performing of underwater manipulation operations with less operator fatigue at underwater vehicle hang mode near object of work even at unintended displacements of underwater vehicle from initial position. Using of synthesized system is assumed with well-known systems of automatic stabilization of underwater vehicle in desirable point of space. Proposed automatic correction provides additional movements of multilink manipulator effector. This correction is based on information about actual angular and linear displacements of underwater vehicle from initial position and information about constantly varied configuration of multilink manipulator. Results of performed mathematical modeling have confirmed high efficiency of synthesized system.

Experimental Definition of the Viscous Friction Coefficients for Moving Links of Multilink Underwater Manipulator

“…(1) allows as to calculate the force of viscous friction acting on the cylindrical UM link moving in the water environment. As a result, it will allow us to provide accurate stabilization of UV in hang mode and effective implementation of manipulation operations [4,11,12].…”

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

“…Further, MM moves to the starting position and puts the sampler into a container. It should be noted, that the method [13] allows to perform the manipulation operation even under conditions of the UV unplanned displacements relative to the initial position of its stabilization under the influence of external factors.…”

Method for Supervisory Implementation of Manipulation Operations by Underwater Vehicles

“…The trajectory passes through the A i target points, which specified by the operator, on the complex bottom relief. Each kth triangle in the triangulation is given in the CS xyz by the coordinates of three vertices V k0 , V k1 , V k2 To find the coordinates of each target point A i at the intersection of the optical axis of the camera and the resulting triangulation surface, it is necessary to determine which of the g triangles are intersected by the axis (2) at the current (2). This algorithm uses the information about the coordinates of the point i P , the elements of the vector ,…”

“…In addition, the analysis shows that new methods for the environment recognition and the motion trajectories planning of the UVs and their MMs [2,3] also are created. At the same time, the majority of the underwater technological and research manipulation operations are still performed in a manual mode by the specially trained operators of the UVs.…”