Design, prototyping and testing of a modular small-sized underwater robotic arm controlled through a Master-Slave approach

Secondly, the arm has been equipped with an adaptive gripper that, taking advantage of the additive manufacturing techniques, is able to easily grip differently shaped objects. Lastly, the underwater arm is controlled through a Master-Slave approach, designed for commercial off-the-shelf electronics, that on the one hand, entailed a significant reduction of the bill of materials, but, on the other hand, required a greater effort in the software development. Experimental tests have been carried out to measure and evaluate the gripping and manipulation capability of the robotic arm and the performance of the proposed control system.