Design of Underwater Humanoid Flexible Manipulator Motion Control System Based on Data Glove

Abstract

The ocean is rich in resources. In order to facilitate the collection of marine resources, human beings have designed many robots to replace divers to overcome the harsh underwater conditions, most of which use motion rocker to control the movement of the rigid manipulator. It is difficult to accurately operate the underwater rigid manipulator with the moving rocker, and the rigid gripper and tools are also easy to damage and destroy the object being operated, which is not suitable for the work scene with high requirements for operation. Therefore, we design an underwater humanoid flexible manipulator motion control system (SMA controller) based on data glove, which can realize the precise control of complex actions, and reduce the destructive behaviors caused by improper operation.