Development of robotic arms for underwater ROV

Overview

This project dealt with the kinematic modeling and overall development of the robotic arms on an underwater ROV. This was my capstone project for the final year of my bachelor's degree. It was sponsored by Aker Solution Pvt. Ltd. During this project, I designed a GUI on MATLAB for performing the kinematics calculations and the simulations. We also worked on the calibration of the electro-hydraulic valves to map the angular motion to the input voltage (0 to 5 Volts). I also managed the financial documentation and official communication between the team and the company officials.