LED 광통신을 적용한 마스터 암과 수중 매니퓰레이터의 통합 제어

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....

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Bibliographic Details
Published in:	Han-guk haeyang gonghak hoeji (Online) Vol. 30; no. 5; pp. 415 - 425
Main Authors:	오지윤(Ji-Youn Oh), 전봉환(Bong-Huan Jun), 최형식(Hyeung-Sik Choi), 김준영(Joon-Young Kim), 지대형(Dae-Hyeong Ji), 손현중(Hyeon-Joong Son), 조성원(Sung-Won Jo)
Format:	Journal Article
Language:	Korean
Published:	한국해양공학회 2016
Subjects:	해양공학 Remote control 원격 제어 Underwater LED communication 수중 LED 통신 Integrated system 통합 시스템 Graphic user interface program 그래픽 유저 인터페이스 프로그램 Underwater manipulator 수중 매니퓰레이터 Master arm 마스터 암 LED
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Summary:	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.
Bibliography:	KISTI1.1003/JNL.JAKO201634864484744 G704-000698.2016.30.5.006
ISSN:	1225-0767 2287-6715