Method for Clarifying Trajectories of Multi-Link Manipulators Mounted on Underwater Vehicles

The work describes the developed method for clarifying the trajectories of working tools (WT) of multi-link manipulators (MM) mounted on unmanned underwater vehicles (UUV) based on data obtained during recognition of a special graphic marker pre-fixed near the MM WT. The proposed method involves the use of technical vision systems (TVS) to identify the position of the MM WT and its subsequent comparison with the position calculated using the solution of the forward kinematics (FK) for this MM. These calculations are performed on the basis of information on generalized coordinates of MM obtained from sensors located in its degrees of freedom. Thus, by comparing the two spatial positions of the WT in real time, a correction vector is calculated that allows to clarifying the desired trajectory of the MM WT. The research of the developed method was carried out using numerical modeling in Matlab/Simulink and Unity, as well as full-scale experiments using MM and TVS developed in the IMTP of the Far Eastern Branch of the RAS. The results of the experiments confirmed the operability of the method and the high efficiency of its use. At the same time, an increase in the accuracy of WT movement on the surfaces of work objects during manipulation operations was confirmed.