A STUDY ON SPEED SERVO CONTROL OF AUTONOMOUS UNDERWATER MANIPULATOR JOINT

XU Guohua, CAI Tao, WANG Bin. A STUDY ON SPEED SERVO CONTROL OF AUTONOMOUS UNDERWATER MANIPULATOR JOINT[J]. ROBOT, 1999, 21(1): 57-63.

Citation:

XU Guohua, CAI Tao, WANG Bin. A STUDY ON SPEED SERVO CONTROL OF AUTONOMOUS UNDERWATER MANIPULATOR JOINT[J]. ROBOT, 1999, 21(1): 57-63.

Citation:

XU Guohua, CAI Tao, WANG Bin. A STUDY ON SPEED SERVO CONTROL OF AUTONOMOUS UNDERWATER MANIPULATOR JOINT[J]. ROBOT, 1999, 21(1): 57-63.

Abstract

In this paper,the principle and design of a new speed servocontrol system of autonomous underwater manipulator(AUM) joint has been discussed with detail.This system is a DC motor speed controller with negative voltage feedback plus positive current feedback.A new bridge DC DC converter with block diodes,controlled by TL494,is applied in this system.It is good for speed servocontrol of common robots or manipulators.

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