Experiments on a floating underwater robot with a two-link manipulator

@article{Sagara2001ExperimentsOA,
  title={Experiments on a floating underwater robot with a two-link manipulator},
  author={Shinichi Sagara and Takeshi Tanikawa and Masakazu Tamura and Ryozo Katoh},
  journal={Artificial Life and Robotics},
  year={2001},
  volume={5},
  pages={215-219}
}
This article concerns experiments with a free-floating underwater robot with a two-dimensional, horizontal planar, two-link manipulator. Some dynamic models of underwater manipulators have been proposed, but only a few experiments have been carried out. Here, we derive a dynamic model for a free-floating underwater robot with a two-link manipulator, including the hydrodynamic forces, and validate the effectiveness of the model by simulation and experiment. We also show an experimental result… CONTINUE READING

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