Development and Control of an Underwater Manipulator for AUV

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.