Open AccessDeveloping and testing a remotely operated vehicle with a seven-function manipulator
Author(s) -
Jiahui Wang,
Zhenzhong Chu
Publication year - 2022
Publication title -
complex engineering systems
Language(s) - English
Resource type - Journals
ISSN - 2770-6249
DOI - 10.20517/ces.2022.01
Subject(s) - remotely operated underwater vehicle , remotely operated vehicle , underwater , heading (navigation) , trajectory , remote control , control system , computer science , manipulator (device) , software , intervention auv , tracking (education) , engineering , marine engineering , simulation , robot , mobile robot , automotive engineering , computer hardware , artificial intelligence , geology , aerospace engineering , operating system , electrical engineering , psychology , pedagogy , oceanography , physics , astronomy
This paper presents the development and testing of a remotely operated vehicle (ROV). The outstanding ability of this ROV lies in its underwater hovering positioning control. At the same time, it is equipped with a seven-function underwater electric operation manipulator and the master-slave control mode is adopted. These are obvious advantages over other medium-sized ROVs. The control hardware architecture and control software architecture of this ROV are also provided. Finally, the test results of the depth trajectory tracking control, heading trajectory tracking control and hover control in the lake environment are presented and analyzed.