FLEXIBLE CONTROL FOR UNDERWATER ROBOTS

A control system supporting manual and program controlled operation of an underwater manipulator has been developed. The operator observes the movements of the manipulator by video in both operation modes. Programming of the system is done in teach-in mode by using a sensor ball. The sensor ball is a compact operating element that can be easily manipulated. The use of a position control system enables precise reproduction of movements and exact positioning of the effector even under disturbing effects. The flexible control system is built up modular allowing for easy adaption to every geometry with up to six axis of motion.