Development of a deep-sea robotic manipulator for autonomous sampling and retrieval

摘要

The design and development of a dexterous robotic manipulator for undersea autonomous sampling and retrieval missions is described. Global system capabilities, end-effectors, trajectory planning, and target recognition strategies are discussed in the context of a recent polar exploration initiative. Additionally, plans for integration onto an autonomous underwater vehicle (AUV) and autonomous sampling and retrieval objectives are outlined.