METHOD OF CONTROLLING UNDERWATER MANIPULATOR IN HOVERING MODE OF UNDERWATER VEHICLE Russian patent published in 2013 - IPC G05B15/00 

FIELD: physics.

SUBSTANCE: additional control signals which are proportional to the displacement of said underwater vehicle from its initial position are transmitted to servo drives of all degrees of freedom of the manipulator. The method is characterised by that the underwater vehicle is fitted with gyroscopic sensors and a navigation system, which determine linear and angular displacement of the vehicle from its initial position during operation of the manipulator, and additional control signals which are proportional to the displacement of the underwater vehicle from its initial position, which provide additional movement of the actuating element of the manipulator in space, are transmitted to servo drives of all degrees of freedom of the manipulator.

EFFECT: providing accurate movement of the actuating element of the manipulator on the desired path through additional correction of signals for programmed control of the manipulator based on the current angular and linear displacement of the underwater vehicle fitted with the manipulator from its initial position.

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