In the project, the intelligent control of an underwater manipulator arm will be demonstrated.
With the help of a control device developed for mobile working machines the operator will be enabled to define the desired position of the manipulator’s end effector in Cartesian space. The manipulator control will calculate the corresponding joint angles and move the end effector to the desired location. Arising position changes at the base (simulated movement of the underwater vehicle by e.g. water flow) are compensated automatically to keep the gripper to the predefined position in space. Overall, technologies in the fields of aerospace and mobile machines are transferred to the subsea sector.