A Control System Design of Underwater Robot for Detecting Underwater Structures

Jun Zhou; Cong Huang; Bo Liu; Ting Ting Wang

doi:10.4028/www.scientific.net/AMM.536-537.1105

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 536-537A Control System Design of Underwater Robot for...

A Control System Design of Underwater Robot for Detecting Underwater Structures

Abstract:

Based on an underwater robot with three degrees of freedom (DOF), a control system with autonomous motion and monitoring function is designed to detect the security of underwater structures. With LabVIEW as the PC software and ARM as the main controller of the lower computer, communicating through the CAN bus, this robot system has the ability of walking freely on the dam surface according to the joystick’s signal , and acquiring the robot’s position and posture as well. In addition, a two-way video multiplexer is used to transfer two video signals, which are used for navigation and observation respectively. Finally, the experiment indicated the system could realize the desired goals .

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Periodical:

Applied Mechanics and Materials (Volumes 536-537)

Pages:

1105-1109

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.536-537.1105

Citation:

Cite this paper

Online since:

April 2014

Authors:

Jun Zhou, Cong Huang, Bo Liu, Ting Ting Wang

Keywords:

ARM, CAN, Dam Survey, LabVIEW, Underwater Robot, Video Multiplexer

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