Excellence in Research and Innovation for Humanity
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@article{(International Science Index):http://waset.org/publications/11836,
  title    = {Dynamic Modeling of Underwater Manipulator and Its Simulation},
  author    = {Ruiheng Li and  Amir Parsa Anvar and  Amir M. Anvar and  Tien-Fu Lu},
  country   = {},
  institution={},
  abstract  = {High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work
},
    journal   = {International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering},  volume    = {6},
  number    = {12},
  year      = {2012},
  pages     = {2611 - 2620},
  ee        = {http://waset.org/publications/11836},
  url       = {http://waset.org/Publications?p=72},
  bibsource = {http://waset.org/Publications},
  issn      = {eISSN:1307-6892},
  publisher = {World Academy of Science, Engineering and Technology},
  index     = {International Science Index 72, 2012},
}