System of Automatically Correction of Program Trajectory of Motion of Multilink Manipulator Installed on Underwater Vehicle

Abstract

In this work method of synthesis of system of automatic correction of program trajectory of motion of multilink manipulator installed on underwater vehicle was discussed. Developed system allows solving problem of fast and high quality performing of underwater manipulation operations with less operator fatigue at underwater vehicle hang mode near object of work even at unintended displacements of underwater vehicle from initial position. Using of synthesized system is assumed with well-known systems of automatic stabilization of underwater vehicle in desirable point of space.Proposed automatic correction provides additional movements of multilink manipulator effector. This correction is based on information about actual angular and linear displacements of underwater vehicle from initial position and information about constantly varied configuration of multilink manipulator.Results of performed mathematical modeling have confirmed high efficiency of synthesized system.