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Design of an underwater robot manipulator for a telerobotic system

Published online by Cambridge University Press:  27 March 2013

Salvador Cobos-Guzman ,
Jorge Torres  and
Rogelio Lozano
Salvador Cobos-Guzman*
Affiliation:
Machining and Condition Monitoring Research Group, University of Nottingham, University Park, Nottingham NG7 2RD, United Kingdom
Jorge Torres
Affiliation:
French-Mexican Laboratory on Computer Science and Control, LAFMIA UMI CNRS 3175, Av. Instituto Politécnico Nacional No. 2508, San Pedro Zacatenco, 07360 México D.F., México. E-mails: jtorres@ctrl.cinvestav.mx, Rogelio.Lozano@hds.utc.fr
Rogelio Lozano
Affiliation:
French-Mexican Laboratory on Computer Science and Control, LAFMIA UMI CNRS 3175, Av. Instituto Politécnico Nacional No. 2508, San Pedro Zacatenco, 07360 México D.F., México. E-mails: jtorres@ctrl.cinvestav.mx, Rogelio.Lozano@hds.utc.fr
*
*Corresponding author. E-mail: Salvador.Cobos_Guzman@nottingham.ac.uk
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Summary

This paper describes a telerobotic system used for manipulation tasks in underwater environments. The telerobotic system is composed of a robotic arm of 3 degrees of freedom. This robotic arm has been designed to support corrosion environments such as seawater or freshwater. The prototype is designed to support several types of perturbations such as ocean currents and high pressures. The main objective is to efficiently control a teleoperation task considering common perturbations present in deep water. Finally, this paper presents the design, modelling and experiments of the underwater telerobotic system.

Keywords

DesignMechatronic systemsRobot dynamicsTeleoperationControl of robotic systems
Type
Articles
Information
Robotica , Volume 31 , Issue 6 , September 2013 , pp. 945 - 953
Copyright
Copyright © Cambridge University Press 2013 

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