Modular Underwater Manipulators for Autonomous Underwater Intervention

摘要

The very core of an active underwater intervention is the ability for manipulation. Precise, dexterous and autonomous underwater manipulation requires extremities and end effectors, that are so robust that they withstand the environmental conditions and are able to apply enough force to perform the usually heavy work. At the same time, the systems must also be sensitive enough to enable precise and adaptive control. In addition, both the mechatronic concept as well as the control strategy of manipulators must be compatible and well integrated with their carrier platforms. This contribution shows the demand for such systems, gives an overview of the state of the art, and highlights the need for development as well as the asso-ciated challenges. First concepts for high performance scalable actuators as well as modeling and control strategies for manipulators composed of these elements are introduced.