| The Underwater manipulator is a very important tool for underwater vehicle working in the ocean. Developing underwater manipulator controllers with good and precise performance is important for manipulator to complete all job successfully. At present, the designers at home and aboard have done many research about the manipulator's control system. We can also often read the related products being developed on the newspapers. In this paper, based on a specific micro-and small underwater manipulator, I completed a three-joint drive motor selection, the drive control circuit design as well as the development of control procedures and the preparation of the preliminary design. Field test showed that the manipulator work well, the motor meet the requirements; Drive control circuit after several modifications can complete drive control functions, and have a number of relatively new design about the use of circuit design and chip methods; The control procedures based on Rabbit3000 has compact structure and clear lines of thought. Debugging results shows that it has good control real-time, high reliability and can associate with hardware circuit to control and drive manipulator to complete various tasks.The paper has six chapters:1) Introduced the Research significance,Background source and Research status at home and abroad now.2) Simply introduced the mechanism of the micro underwater manipulator,and gave the detailed Calculation steps about the motor selection.3) Selected the negative location feedback structure with current cut-off loop to develop the Drive and Control board. Used a Chip microprocessor to control three motors and selected H-bridge circuit to drive each motor.4) Based on the Rabbit3000 microprocessor, we choose the embedded real-time operating systemμC/OS-Ⅱto design the control programme.5) System debugging. Including the manipulator's Single Debug Test and the hardware circuit's Simulation Crawl Test in the case of no-load motor.6) Summary and outlook... |
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