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

Yangmin Li, Ka Meng Lo

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 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 languageEnglish
Title of host publication2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Pages1196-1201
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2009
Externally publishedYes
Event2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 - Changchun, China
Duration: 9 Aug 200912 Aug 2009

Conference

Conference2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Country/TerritoryChina
CityChangchun
Period9/08/0912/08/09

Keywords

  • Dynamics
  • Underwater vehicle-manipulator

ASJC Scopus subject areas

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

Cite this