Control of an underwater manipulator mounted for an AUV considering dynamic manipulability

In this paper, kinematics, dynamics and trajectory routing algorithm of a 2-link underwater manipulator of an AUV (Autonomous Underwater Vehicle) “Twin-Burger” are discussed considering the dynamic manipulability and the interaction between the manipulator and the AUV. As the control system, the RAC (Resolved Acceleration Control) method is introduced. In order to evaluate the efficiency of the proposed method, the numerical simulation is carried out including the effect of hydrodynamic forces. Also, an underwater manipulator is designed using a CAD/CAM system and realized by the waterproof mechanism based on magnet coupling.