<?xml version="1.0" encoding="UTF-8"?> <article key="pdf/11836" mdate="2012-12-20 00:00:00"> <author>Ruiheng Li and Amir Parsa Anvar and Amir M. Anvar and Tien-Fu Lu</author> <title>Dynamic Modeling of Underwater Manipulator and Its Simulation</title> <pages>2611 - 2620</pages> <year>2012</year> <volume>6</volume> <number>12</number> <journal>International Journal of Mechanical and Mechatronics Engineering</journal> <ee>https://publications.waset.org/11836.pdf</ee> <url>https://publications.waset.org/vol/72</url> <publisher>World Academy of Science, Engineering and Technology</publisher> <abstract>High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the DenavitHartenberg (DH) method 9&amp;amp;amp;12; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work </abstract> <index>Open Science Index 72, 2012</index> </article>