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Development of a master controller for a dual-arm underwater robot

Ambar, Radzi and Shinichi , Sagara (2015) Development of a master controller for a dual-arm underwater robot. In: The Twentieth International Symposium on Artificial Life and Robotics 2015 (AROB 20th 2015), 21-23 January 2015, B-Con Plaza, Beppu, Japan.


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Master-slave system is a vital technique for controlling robot motions, especially in underwater robotics applications. This paper describes the development of a novel master controller for an experimental dual-arm underwater robot. By using the proposed master controller, a human operator is able to control an underwater robot movement in 3-dimensional space. The master controller also includes two units of 3-link manipulator controller. Moreover, each end-tips of the manipulator controller are attached with a joystick, one for controlling robot position, while the other controls robot attitude. The uniqueness of the proposed master controller is that a human operator is able to control the motion of robot base and two units of 3-link slave manipulator simultaneously. In this work, the hardware design of the proposed master controller and the structure of master-slave system are presented. The usefulness of the proposed master controller is verified through experiments on controlling an actual dual-arm underwater robot.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Underwater robot; manipulator; UVMS; control
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions: Faculty of Electrical and Electronic Engineering > Department of Computer Engineering
Depositing User: Mr. Mohammad Shaifulrip Ithnin
Date Deposited: 24 May 2017 07:57
Last Modified: 24 May 2017 07:57
URI: http://eprints.uthm.edu.my/id/eprint/8470
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