About the development of a technological complex with a manipulator for an unmanned underwater vehicle

摘要

This paper presents solution of underwater manipulator tasks providing interaction with environment to perform tasks. Underwater manipulator is a part of unmanned underwater vehicle used to perform operations on ordered depth. Technological system based on standard and available elements is explored. Main research avenue is a remote control of modular system elements using Programmable Logic Controller. This paper describes the design and implementation of algorithms for controlling the manipulator or its hardware platform. Software architecture to control using standard programming tools is shown. Additionally, compute resources necessity depending on control system structure has been reviewed.