Dynamics and kinematics of novel underwater vehicle-manipulator for cleaning water pool

Yangmin Li; Ka Meng Lo

doi:10.1109/ICMA.2009.5246486

Dynamics and kinematics of novel underwater vehicle-manipulator for cleaning water pool

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

6 Citations (Scopus)

Abstract

This paper presents the dynamics and kinematics analysis of an underwater robot specifically designed for cleaning water pool. We have designed an underwater robot to meet the needs of cleaning job. The cleaning job can be classified into two main parts: bottom cleaning and side-wall cleaning. Most of the pool cleaning robots that are available in the present market are typically mobile robots. It is easy to find that a mobile robot cannot cleanse up some areas inside the water pool, such as the corner areas and the surface above the water level. Hence an underwater vehicle-manipulator system (UVMS) developed can tackle the cleaning issues efficiently.

Original language	English
Title of host publication	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Pages	1196-1201
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2009.5246486
Publication status	Published - 1 Dec 2009
Externally published	Yes
Event	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 - Changchun, China Duration: 9 Aug 2009 → 12 Aug 2009

Conference

Conference	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Country/Territory	China
City	Changchun
Period	9/08/09 → 12/08/09

Keywords

Dynamics
Underwater vehicle-manipulator

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Control and Systems Engineering
Electrical and Electronic Engineering

More information

10.1109/ICMA.2009.5246486

Cite this

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title = "Dynamics and kinematics of novel underwater vehicle-manipulator for cleaning water pool",

abstract = "This paper presents the dynamics and kinematics analysis of an underwater robot specifically designed for cleaning water pool. We have designed an underwater robot to meet the needs of cleaning job. The cleaning job can be classified into two main parts: bottom cleaning and side-wall cleaning. Most of the pool cleaning robots that are available in the present market are typically mobile robots. It is easy to find that a mobile robot cannot cleanse up some areas inside the water pool, such as the corner areas and the surface above the water level. Hence an underwater vehicle-manipulator system (UVMS) developed can tackle the cleaning issues efficiently.",

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Dynamics and kinematics of novel underwater vehicle-manipulator for cleaning water pool. / Li, Yangmin; Lo, Ka Meng.
2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009. 2009. p. 1196-1201 5246486.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - This paper presents the dynamics and kinematics analysis of an underwater robot specifically designed for cleaning water pool. We have designed an underwater robot to meet the needs of cleaning job. The cleaning job can be classified into two main parts: bottom cleaning and side-wall cleaning. Most of the pool cleaning robots that are available in the present market are typically mobile robots. It is easy to find that a mobile robot cannot cleanse up some areas inside the water pool, such as the corner areas and the surface above the water level. Hence an underwater vehicle-manipulator system (UVMS) developed can tackle the cleaning issues efficiently.

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Dynamics and kinematics of novel underwater vehicle-manipulator for cleaning water pool

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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