Abstract—In this paper, an underwater positioning system that consists of underwater robot and multi-joint serial link. The serial link is connected to the underwater robot from the water surface. The position of the underwater robot is obtained from kinematics of the serial link. The experimental model for evaluation of the proposed system is developed and its detail is explained. Then positioning error due to the joints angle measurement error is evaluated and influence of the underwater environment to the proposed positioning system is also discussed.
Index Terms—Underwater inspection, underwater positioning, multi joint link.
Soji Shimono is with the Q.I Incorporated, 4-7, Fukuura 2-chome, kanazawa-ku, Yokohama, Japan. And also with the Tokyo University of Agriculture and Technology, Japan (e-mail: shimono@qi-inc.com).
U. Nishizawa and S. Toyama are with the Tokyo University of Agriculture and Technology, 2-24-16, Nakacho, Koganei, Tokyo, Japan (e-mail: n-uichi@cc.tuat.ac.jp, toyama@cc.tuat.ac.jp).
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Cite: Soji Shimono, Uichi Nishizawa, and Shigeki Toyama, "Design of Underwater Coordinate Measuring Machine Using Multi-joint Link," International Journal of Modeling and Optimization vol. 8, no. 4, pp. 页, 2018.
