WORKSPACE ENLARGEMENT AND COLLISION-AVOIDANCE FOR SUBMARINE ROBOT BY ADDITIONAL REDUNDANT AXES

The increasing demand of manipulators in offshore engineering requires simulation of kinematics and dynamics of robot systems in the development phase. Within this field of application kinematically redundant systems are necessary to meet the required dexterity for underwater tasks. In this paper a suitable algorithm is presented to generate the motion data for a seven-DOF-manipulator. The use of projected gradients (null space projection) and pseudoinverses provides collision-free path generation for a manutec r15 robot with an extra translational base joint. The motion data is transferred into a multibody system which is computed using the dynamic simulation program ADAMS. This model includes forces caused by submarine motion. The simulation leads to an analysis of the relative influence of water flow on path errors of submarine manipulators.