Construction and Research of an Underwater Autonomous Dual Manipulator Platform

摘要

Underwater hydraulic manipulator with the advantages of heavy load and mature technology, is widely used in ROV and HOV, however, the autonomous operating ability of ROV or HOV's manipulator is relatively weak. To solve this problem, in this paper, an underwater autonomous dual manipulator platform is developed which would be utilized in key technology research on underwater IMR (Inspection, Maintenance and Repair), ocean exploration and other marine applications to alleviate the operating burden and improve working efficiency. Using the same manipulator configuration as the 6000m Scientific ROV of SIA, the platform is comprised of two underwater hydraulic manipulators and has a three-axis motion base of the manipulators. Additionally, the control system is based on the ROS (Robot Operating System) and MoveIt!. This paper tends to illustrate some fundamental research of the platform, such as the system overview of the platform, modeling, motion planning in Matlab and ROS, and the computer-based control of single manipulator.