Abstract
The paper introduces kinematics analysis for a kind of 6 degrees of freedom underwater manipulator. Firstly, kinematics model was established based on D-H principle; The solving process of kinematics direct solution and inverse solution of manipulator was presented. Secondly, Numerical simulation is performed based on ADAMS software, every joint speed and acceleration curve is obtained. The working principals and control requirement of underwater manipulator are illustrated; Based on kinematics modeling, the control system of manipulator was designed based on PLC and carried out the control the function of the manipulator.
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