Research On Control Architecture Of Micro Underwater Manipulator

Micro Underwater Manipulator -MUM , which is an important part of the underwater vehicle, reflects the level of China's ocean high-tech development in a great measure. It is significant for our country to research the underwater vehicle and it's MUM to raise the status in the ocean exploitation and to take part in the international ocean exploitation competition in 21th century.This thesis analyzes the hardware and the software of the MUM and establishes the basic control architecture for the system. By comparing different micro controlers, we choose RCM3720 as the controler of the MUM. By comparing the different software designing style, we choose RTOS. The whole project is divided into many tasks based on the analysis of MUM.Among all the parts of MUM, this thesis primarily designs a kind of ultrasonic telemeter sensor based on microprocessor. This device can measure certain distance with reflected wave on condition that the speed of transmitting wave is fixed. The output of the sensor is digital distance, which is the very need of the Micro Underwater Manipulator -MUM. This paper generally specifies the theoretical foundation of the device, and introduces the software and hardware design of the device. The design of the sensor is targeted on high precision and little blind area.This paper aims at the combination of theoretical analysis and practical design work, build the control architecture of the MUM and lay a good foundation for the further research. We can foresee that this technology will promote the development of the national defence,marine science and the equipment of ocean exploitation.