The first time integrated IAUV(no manipulator included) test

 

The heart is placed in its deserved position

 

vedio of manipulator test

communication test are finished

the communication includes : ethnet and serial port(RS232-RS485 < - > RS485-RS232)

Successful in applying the postdoc

Thanks, Dr. Robert. You give me the chance I can continue the research on roobtics.

I am designing the joint controller of manipulator

the manipulator motion test is complete. The joint angle controllers are developed.The output can track the input on the whole.But I meet some difficulty while I am disigning the controller of manipulator.When i want the setpoint controll, the output will be oscillating at the new stable point.

reason:
1. the inherent drawback of the Maxon motor drive when the rotation rate is less than 1000rpm/sec.It is uncontrolled by the control signal.This is the main reason of oscillating of motor at the stable point.

Furthermore I met a difficulty that the output of joint angle is jumpped and polluted by noise. The noise error comes from two aspects.
(1)power noise.
(2)A/D transfer noise.
Currently I think the main noise source is the power noise. I planned to filter the sensor output by a low pass filter, but it is proved to be a silly idea because the filter component here can induce a phase lag. It is disadvantageous to the stablity of the control system.

manipulator assemble are finished

motor driver test are finished in land

motor driver test
TCM2.5 test
MTi test
depth meter test

are finished in land.