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

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. © 2011 Springer-Verlag.