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This underwater manipulator is designed to be applied to the submersible vehicle which is subjected to many kinds of maintenance tasks of an oilwell-equipment in the deep sea. All joint motions of the manipulator, having three arms with seven degrees of freedom and an exchangeable terminal device, are powered with hydraulic actuators. A pair of these articulated manipulators are planned to be equipped to the vehicle and to provide a lift capability of 30 kg each at an outreach of two meters from the shoulder pivot. The most significant point of this manipulator system is the adoption of the master-slave control device using position-servo control system, so that the operator can control the manipulator freely and speedily by moving the position and orientation of the grip of a multi-joint control lever, i.e., a miniature of the manipulator.
