Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research

With the recent technological advancement in submersible systems, the research and development of underwater manipulator robot is highly desirable. This paper focuses on comparing simulation versus real-time manipulator dynamics control, and comparison of intelligent underwater manipulator-robot for effective Ocean-based research, industrial and defense applications. Software package such as MATLAB is used to simulate the results of underwater manipulator performances and compare it with the real-time trials. A mathematical model for underwater manipulator which encompasses deriving modified Denavit-Hartenberg parameters, computing all transformation matrices, deriving the forward kinematic and generating trajectory. Base on cubic polynomials, the manipulator trajectory is generated by using the joint angles and translation of each trajectory point. The result of manipulator performances is simulated by using SIMULINK. The manipulator simulation, which is aimed to analyze the movement of each arm, through the parameters of locations, velocity and torques are obtained. This paper also includes the comparison of manipulator-robot performance simulation with real-time trials. In order to measure the results of real-time, the Nintendo Wii remote is attached to manipulator to record the performances. The comparison can reveal the differences between simulation and real-time test in order to optimize for underwater manipulator.