WORKSPACE ENLARGEMENT AND COLLISION-AVOID ANCE FOR SUBMARINE ROBOT BYADDITIONAL REDUNDANT AXES

The increasing demand of manipulators in offshore engineering requires simulation of kinematics and dynamics of robot systems in the develop ment phase. Within this field of application kinematically redundant s ystems are necessary to meet the required dexterity for underwater tas ks. In this paper a suitable algorithm is presented to generate the mo tion data for a seven-DOF-manipulator. The use of projected gradients (null space projection) and pseudoinverses provides collision-free pat h 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 inclu des forces caused by submarine motion. The simulation leads to an anal ysis of the relative influence of water flow on path errors of submari ne manipulators.