Research On Profile Modeling Handle Control Techniques For Underwater Manipulator

This paper focuses on Operation Control Technique of Deep-Sea Underwater Manipulator with Profile Modeling Handle. This research aims at shortcomings of present profile modeling control technology adopted home and abroad, and gives new system structure more suitable for profile modeling control of manipulator. This report provides three main innovations: firstly, analyze in detail scale-design concept and function structure of profile modeling handle, including the critical elements during the handle design and meanwhile, also design the control box with control buttons on its cover, connecting port on its sides and control PCBs inside; Then Complete the transformation between controlled displacement and given angle so close loop control is available; Finally, gives a computer interface to show working parameters of executors making our system able to forecast overload so that cautions will be taken by operators to avoid danger. This newly constructed system is tested by practical experiment on its control effect and the result shows that our design can meet the design guideline and work effectively.This paper contains 6 chapters with their contents as follows:Chapter 1 shows the research background, analyzes the present research development on the field of profile modeling control technology for underwater manipulator and finally gives the research purpose and significance of my paper.Chapter 2 gives a summary introduction of our profile control system including its structure and separate functional module, and shows the system signal flow.Chapter 3 focuses on the profile modeling handle. This chapter gives a detailed explanation on handle design, including basic structure design and critical elements. Besides the analysis of this design, the paper also provides solutions to these critical techniques.Chapter 4 concentrates on another important part of this paper, that is, parameter interface of manipulator operation. This chapter contains such contents as follows: design guideline, functional module, critical techniques and the solutions to these elements with necessary signal flow chart.Chapter 5 explains the system experiments that are carried out to test this system design. Experimental content, method and devices are shown and after experimental data analysis, the result shows that our design can meet the demand of this project and can work effectively.Chapter 6 is led by the summary and conclusion of this design and then analyzes the prospect about the profile modeling control technology.This paper aims at the combination of theoretical analysis and practical design work, and explains the critical techniques and solutions easy to read and understand. It gives emphasis on the design schemes and the solutions to each critical technique.