Autonomous Motion Control of Underwater Manipulator Based on Dynamic System

This is the authors' abstract. We don't add key points for this paper.

Underwater operation environments are normally complex and dangerous. Therefore, highly intelligent underwater robots with adequate maneuverability are typically required to assist with operations in such environments. In this study, an autonomous motion control framework for an underwater manipulator was developed based on a dynamic system, providing a high degree of autonomy and intelligent underwater manipulator motion. The basic principle of the framework was expounded, and the solutions to two key problems of motion planning and obstacle avoidance were obtained. Further, the effectiveness of the control framework in autonomous obstacle avoidance and grasping and manipulation tasks was verified by the motion simulation of a manipulator platform. This research has certain guiding significance for the autonomous motion and obstacle avoidance control of underwater multifunctional manipulators.