A Method of Measuring Wrist Angle of Underwater Manipulators Based on Machine Vision

For the underwater manipulators based on visual positioning, it is impossible to calculate the wrist angle through the inverse kinematics solution, because the camera is installed in the front of the wrist. This paper presents a method of measuring wrist angle of most underwater manipulators without installing angle sensor. For this method, this paper carries on the detailed mathematical derivation, and gives error analysis combined with the real machine test.