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Development of a semi-autonomous underwater robot equipped with 3-link dual-arm

Ambar, Radzi and Shinichi, Sagara (2015) Development of a semi-autonomous underwater robot equipped with 3-link dual-arm. In: The Japan Society of Mechanical Engineers.


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We have been developing a semi-autonomous underwater vehicle (semi-AUV) equipped with 3-link dual-arm for underwater intervention tasks. In this work, brief description of the developed semi-AUV and a single-person operated master controller that can simultaneously operate the semi-AUV and dual-arm is described. Furthermore, preliminary experimental results showing the effectiveness of the master controller in controlling the semi-AUV is presented.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Underwater robot; dual-arm; master-slave system
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/8472
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