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Underwater Human Arm Manipulator – System Calibration

Babiarz Artur, Bieda Robert, Grzejszczak Tomasz, Jaskot Krzysztof, Kozyra Andrzej, Ściegienka Piotr

Advances in Science and Technology. Research Journal

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2024

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Vol. 18, no 2

36--46

EN

Controlling a remotely operated underwater vehicle (ROV) is an extremely challenging task that requires precise maneuvering and navigation in complex and often unpredictable environments. The operator faces numerous difficulties, including limited visibility and communication constraints, and the need to interpret data from various sensors. This paper describes a method for calibration of a wearable system equipped with inertial measurement unit (IMU) sensors that control the underwater manipulators. To implement a solution that allows the robot to be controlled by the operator's hand movements, it is necessary to measure the movement of the arm. This task is carried out using the IMU sensors, which are mounted in appropriate places on the ROV operator's suit to allow mapping the movement of his/her upper limbs. These movements are transferred to the manipulator's arms on the ROV, making it possible to interact with the environment by - manipulating objects under-water.

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Motion planning of planar and redundant underwater serial link manipulator based on minimization of energy consumption

Kumar Virendra, Sen Soumen, Roy Shibendu Shekhar

Archive of Mechanical Engineering

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2021

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LXVIII, nr 4

415--434

EN

The article describes motion planning of an underwater redundant manipulator with revolute joints moving in a plane under gravity and in the presence of obstacles. The proposed motion planning algorithm is based on minimization of the total energy in overcoming the hydrodynamic as well as dynamic forces acting on the manipulator while moving underwater and at the same time, avoiding both singularities and obstacle. The obstacle is considered as a point object. A recursive Lagrangian dynamics algorithm is formulated for the planar geometry to evaluate joint torques during the motion of serial link redundant manipulator fully submerged underwater. In turn the energy consumed in following a task trajectory is computed. The presence of redundancy in joint space of the manipulator facilitates selecting the optimal sequence of configurations as well as the required joint motion rates with minimum energy consumed among all possible configurations and rates. The effectiveness of the proposed motion planning algorithm is shown by applying it on a 3 degrees-of-freedom planar redundant manipulator fully submerged underwater and avoiding a point obstacle. The results establish that energy spent against overcoming loading resulted from hydrodynamic interactions majorly decides the optimal trajectory to follow in accomplishing an underwater task.

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Some considerations on an underwater robotic manipulator subjected to the environmental disturbances caused by water current

Kołodziejczyk W.

Acta Mechanica et Automatica

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2016

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Vol. 10, no. 1

43--49

EN

The objective of this paper is to discuss some of the issues associated with environmental load on the three-link serial manipulator caused by underwater current. We have conducted CFD simulations to investigate hydrodynamic effects induced by changing current direction and changing with time current speed in order to better understand the physics of the problem. The results are presented in terms of moments of hydrodynamic forces plotted against relative position of the current and the robotic arm. Time history of hydrodynamic loads according to periodically changing current speed is presented and discussed.

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Preliminary Study of Hydrodynamic Load on an Underwater Robotic Manipulator

Kolodziejczyk W.

Journal of Automation Mobile Robotics and Intelligent Systems

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2015

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Vol. 9, No. 4

11--17

EN

The objective of this study was to obtain the hydrodynamic load on an underwater three-link robotic arm subjected to the different current speeds at several arm configurations under steady-state conditions. CFD simulations were performed in order to assess torque requirements when hydrodynamic effects have to be compensated by motors in order to maintain the position of the arm.