Abstract
Most of the underwater salvage operations work in shallow waters. The underwater environment is complex and varied. There are many risks and unpredictable conditions such as turbulence, eddies, wind, waves and deep water pressure. The motion and control cause serious interference, and the flexibility of automatic stabilization and multi-dimensional motion under external disturbances is increasingly becoming a key element in the design process of underwater robots. In this paper, the structure, driving and control design of an underwater dynamic search and underwater robot based on 6-DOF driving is proposed, and its dynamics and control system are analyzed. Different from the traditional underwater robot technology, the method proposed in this paper is more suitable for shallow water area and multi DOF driving control technology. The driving structure and electronic device of the robot are introduced. Several experiments were carried out in the controlled environment. The experimental results demonstrate the correctness and effectiveness of the design and analysis.
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