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LED 광통신을 적용한 마스터 암과 수중 매니퓰레이터의 통합 제어Integrated Control of Underwater Manipulator and Master Arm using LED Communication
- Other Titles
- Integrated Control of Underwater Manipulator and Master Arm using LED Communication
- Issue Date
- 2016
- Publisher
- 한국해양공학회
- Keywords
- Underwater manipulator 수중 매니퓰레이터; Master arm 마스터 암; Remote control 원격 제어; Underwater LED communication 수중 LED 통신; Integrated system 통합 시스템; Graphic user interface program 그래픽 유저 인터페이스 프로그램
- Citation
- 한국해양공학회지, v.30, no.5, pp 415 - 425
- Pages
- 11
- Journal Title
- 한국해양공학회지
- Volume
- 30
- Number
- 5
- Start Page
- 415
- End Page
- 425
- ISSN
- 1225-0767
2287-6715
- Abstract
- This paper presents the results of a study on the control system for an underwater manipulator controlled by a master arm through LED communication. The underwater manipulator was designed to be actuated by electric motors with six degrees of freedom for operation in various underwater environments. The master arm, which can remotely control the manipulator, was designed with a structure similar to the manipulator for convenient control. An underwater LED communication system was developed to communicate between the master arm and underwater manipulator. An integrated control program was developed that included data conversion, monitoring, datalogging, and filtering. Some experiments were performed to verify the performance of the developed control system of the master arm, manipulator, and LED communication system, and the results are presented
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