Method of automatic formation of the underwater manipulator motion program based on noise three-dimensional models

The paper presents the method of automatic formation of the multi-link manipulator (MM) of underwater vehicle (UV) movement program using noise three-dimensional model of underwater objects obtained by their computer vision system (CVS). A feature of the proposed method is the automatic selection of a set of elementary trajectories (straight lines and circular arcs) in the trajectory of the working tool (WT) of MM laid on the surface of a three-dimensional model of an object unknown in advance. The specified allocation takes place using the RANSAC algorithm, which allows considering a large amount of noise contained in the specified model. This makes it possible to increase the accuracy of performing underwater technological operations using MM by providing more accurate stabilization of the UV during MM operation. The conducted mathematical modeling has shown that the proposed algorithm is workable and effective in conditions of high noise of three-dimensional models and can be used for automatic performing technological operations.