|A435. Kaiwu Bldg. of Mechanical Engineering, Tongji Univ.,
No. 4800 Cao An Rd., Shanghai 201804, P. R. China
Trajectory planning and optimization of underwater robot manipulator based on visual servo
Underwater vehicle-manipulator system（UVMS）plays a more and more important role in the exploration and development of the ocean. It is particularly important to improve the automation of the underwater vehicle and to ensure the manipulator's working accuracy under water.
Because of the complex underwater environment, the servo camera is jitter when the underwater vehicle is operated on visual servoing. The original image obtained has complex background and has gray and white characteristics. Uneven mixing of artificial light and seawater can even reduce the image contrast. The motion trajectory of a robot is three-dimensional, and there is more complex dynamic coupling problem than the space manipulator. Trajectory planning becomes more difficult.
Status Seminar Reports：
2016: Trajectory planning method for underwater six degree of freedom manipulator
2017: Research on the method of system trajectory planning of UVMS