Underwater manipulator that imitates the movements of the human arm

In this paper, the design of a five degrees of freedom (5DoF) underwater manipulator system is presented and discussed. The forward and inverse kinematics problem are solved and shown. Additionally, a system that mimics the human arm movements using a manipulator is proposed. In order to imitate the movement of the human arm, the layout diagram of the IMU sensors and the method of first calibration were presented. The work also presents a device with a simple haptic feedback used to facilitate control of the gripper. The presented approach to the design of a robot control system is dedicated to an underwater robot with the main assumption of reducing the complexity of the system. Taking into account the authors' knowledge, this approach distinguishes the presented system from solutions known from the literature.

Automated summary

This paper presents the design of a five degrees of freedom underwater manipulator system and solves the forward and inverse kinematics problem. Additionally, it proposes a system that mimics human arm movements using a manipulator and introduces the layout diagram and calibration method of IMU sensors. The paper also introduces a simple haptic feedback device for gripper control. This design approach aims to reduce the complexity of the underwater robot system and distinguishes itself from existing solutions.