Modeling of an underwater robotic manipulator

Abstract

This project is a software-based for modeling of an underwater robotic manipulator. The goal of this project is to derive mathematical model of an underwater manipulator by including the hydrodynamics terms. Manipulator is controlled by a computer that runs a program. In general, robots are designated, and meant, to be controlled by a computer or similar device. The motions of the robots are controlled through a controller that is under supervision of the computer, which, itself, is running some type of a program. Thus, if the programs are changed, the actions of the robot will change accordingly. The intention is to have a device the can perform many different tasks and thus is very flexible in what it can do, without having to redesign the device. Thus, the robot is designed to be able to perform any tasks that can be programmed (within limit, of course) simply by changing program. For underwater manipulator, the derivation of mathematical model is same with land manipulator, but there are including parameters to perform its work underwater. Underwater manipulators have to add mass, add corriolis, drag force and buoyancy. After the mathematical derivation is develop, all these parameters is to simulate using the MATLAB simulink. This project is designed for 2 degree of freedom (DOF). The input of this project is a torque and the output is angle of the joints for 2 degree of freedom (DOF).