AUV水下机械臂的研制与控制

2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies Pub Date : 2007-04-17 DOI:10.1109/UT.2007.370800

M. Ishitsuka, K. Ishii

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引用次数: 14

摘要

本文介绍了自主水下航行器(AUV)水下机械臂的研制与控制。首先，我们模拟了机器人的运动。机械手采用磁力耦合机构进行防水设计，并将电机和电机驱动器作为一个模块。为了便于连接，简化布线，提高连接的可靠性，采用模块化系统开发了水下航行器系统。最后，开发了AUV系统和机械手。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development and Control of an Underwater Manipulator for AUV

This paper describes development & control of underwater manipulator for autonomous underwater vehicle (AUV). First, we simulated motion of the robot. We designed manipulator using magnetic coupling mechanism for waterproof, and as one module including motor and motor driver. The system of AUV was developed using module system for easy connecting, simplification of wiring and improvement of reliability of connection. Finally, we developed AUV system and manipulator.

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2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies

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