Development of a deep ocean master-slave electric manipulator control system

  • Authors:

  • Xiong Shen;GuoHua Xu;Kun Yu;Guoyuan Tang;Xiaolong Xu

  • Affiliations:

  • Underwater Technology Laboratory, College of Navy and ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, China;Underwater Technology Laboratory, College of Navy and ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, China;Underwater Technology Laboratory, College of Navy and ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, China;Underwater Technology Laboratory, College of Navy and ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, China;Underwater Technology Laboratory, College of Navy and ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

  • Venue:
  • ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
  • Year:
  • 2011

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Abstract

Underwater vehicles and manipulators play an important role in underwater tasks such as salvage, maintenance and so on. Underwater environment, especially deep Ocean is a hazard place for human to explore for its high water pressure. It is illustrated a development course of a deep ocean Master-slave manipulator for the demand of emergency oil exploration system. This paper describes a development of master-slave manipulator feedback control system. The underwater control system is based network and consisted of three embedded PC/104 computers which are used for servo control, task plan and target sensor respectively. The sensor control system and strategy of the master-slave manipulator control system are discussed in three parts include structure, modeling and experiment. Finally; establish the two-port network mode based scaling condition and analysis the stability of the overall manipulator control system.