Research On Underwater Micro Manipulator Servo Control With Proximate Sensor

Underwater manipulator is an important tool for the robot while operating, therefore it has great importance to develop an underwater manipulator with good performance. When equipping with the manipulator system, the manipulator requires not only facilitation for controlling and has high stability and reliability, but also requires the ability to independently complete the underwater operations and detect ,identify and capture the goals automatically in the marine environment,and enhance its intelligence.The underwater micro manipulator we developed has a small size and light weight, it is facilitate to install on the under water robot. In order to increase the level of the intelligence of the system, the system set the proximate sensor to detect the targets, the proximate sensor adopts ultrasonic wave to detect the distance, and three-probes to detect the orientation. The drive circuit adopts MC33035 and H-bridge to complete the function of the motor, with its help the system works stably. The single chip receives and process the sensor data, then it transmit the location information of the target to the manipulator. The detection module gets the working condition of the manipulator and return to the single chip. Then the single chip processes the information and control the manipulator to complete the underwater action.The final experiments show that the manipulator works stably, has high precision, sensitivity and good real-time performance with the help of the proximate sensor, it can meet the requires of the underwater operations.