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.
This work was funded by the China National 863 Program “deep-sea manipulator key technique” project (2006AA09Z203), State Commission of Science and Technology for National Defense Industry Project “micro underwater work tool” and National Science Foundation of China (Grant No. 50909046 and No. 51079061).
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© 2011 Springer-Verlag Berlin Heidelberg
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Shen, X., Xu, G., Yu, K., Tang, G., Xu, X. (2011). Development of a Deep Ocean Master-Slave Electric Manipulator Control System. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25489-5_40
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DOI: https://doi.org/10.1007/978-3-642-25489-5_40
Publisher Name: Springer, Berlin, Heidelberg
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