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Modeling of an underwater robotic manipulator

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Bibliographic Details
Main Author: Siti Zahara, Salleh
Other Authors: Nurhakimah Mohd Mukhtar
Format: Learning Object
Language:English
Published: Universiti Malaysia Perlis (UniMAP) 2015
Subjects:
Robotic manipulator
Robotic
Underwater robot
Manipulator
Online Access:http://dspace.unimap.edu.my:80/xmlui/handle/123456789/38968
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spelling my.unimap-389682015-02-16T07:48:51Z Modeling of an underwater robotic manipulator Siti Zahara, Salleh Nurhakimah Mohd Mukhtar Robotic manipulator Robotic Underwater robot Manipulator Access is limited to UniMAP community. This project is a software-based for modeling of an underwater robotic manipulator. The goal of this project is to derive mathematical model of an underwater manipulator by including the hydrodynamics terms. Manipulator is controlled by a computer that runs a program. In general, robots are designated, and meant, to be controlled by a computer or similar device. The motions of the robots are controlled through a controller that is under supervision of the computer, which, itself, is running some type of a program. Thus, if the programs are changed, the actions of the robot will change accordingly. The intention is to have a device the can perform many different tasks and thus is very flexible in what it can do, without having to redesign the device. Thus, the robot is designed to be able to perform any tasks that can be programmed (within limit, of course) simply by changing program. For underwater manipulator, the derivation of mathematical model is same with land manipulator, but there are including parameters to perform its work underwater. Underwater manipulators have to add mass, add corriolis, drag force and buoyancy. After the mathematical derivation is develop, all these parameters is to simulate using the MATLAB simulink. This project is designed for 2 degree of freedom (DOF). The input of this project is a torque and the output is angle of the joints for 2 degree of freedom (DOF). 2015-02-16T07:48:50Z 2015-02-16T07:48:50Z 2011-05 Learning Object http://dspace.unimap.edu.my:80/xmlui/handle/123456789/38968 en Universiti Malaysia Perlis (UniMAP) School of Electrical Systems Engineering
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Robotic manipulator
Robotic
Underwater robot
Manipulator
spellingShingle Robotic manipulator
Robotic
Underwater robot
Manipulator
Siti Zahara, Salleh
Modeling of an underwater robotic manipulator
description Access is limited to UniMAP community.
author2 Nurhakimah Mohd Mukhtar
author_facet Nurhakimah Mohd Mukhtar
Siti Zahara, Salleh
format Learning Object
author Siti Zahara, Salleh
author_sort Siti Zahara, Salleh
title Modeling of an underwater robotic manipulator
title_short Modeling of an underwater robotic manipulator
title_full Modeling of an underwater robotic manipulator
title_fullStr Modeling of an underwater robotic manipulator
title_full_unstemmed Modeling of an underwater robotic manipulator
title_sort modeling of an underwater robotic manipulator
publisher Universiti Malaysia Perlis (UniMAP)
publishDate 2015
url http://dspace.unimap.edu.my:80/xmlui/handle/123456789/38968
_version_ 1643798866724651008
score 13.18916

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