The Research Of Micro-Underwater Manipulator Control System

Micro-Underwater Manipulator-MUM, which is an important part of the underwater vehicle, reflects the level of Chinese oceanic 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 21st century.In this paper, the control system of MUM was designed, and the research was done via two main directions as follows:a. The simulation monitor-module on water surface:In Micro-Underwater Work Tool system, the Simulation monitor-module, which mainly consists of 3 DS-MAX simulation module, data module and control module, always acts a vital role both in independent operation and remote operation.First, the monitor-module on water surface can demonstrate the simulation. Second, the module can send the real-time information of the MUM operations. Moreover, the module can also allow a manual intervention when necessary.b. The underwater control system based on the RCM3720:In the MUM control system, we take the high-performance rabbit single chip RCM3720 as the core, and use theμC/OS-II RTOS as the software system.The control system was adopted modularization design, which can be divided into several modules as follows: system monitor-module, communications module, information-fuse module and operation design module, and so on.This paper carried out a series of research and design work based on the"Micro-Underwater Work Tool"project, which was funded by the commission of Science Technology & Industry for National Defense (CSTIND), but there are few unresolved problems yet. It is expected that the realization of this technology will promote the development of the national defense, marine science and the equipment of ocean exploitation.