DEVICE FOR CONTROLLING UNDERWATER ROBOT Russian patent published in 2014 - IPC B25J13/00 

FIELD: physics.

SUBSTANCE: to generate the required correcting signals and providing full compensation for the effects of interaction between degrees of freedom of an underwater robot and viscous friction of the liquid, the device for controlling the underwater robot is further equipped with a third multiplier unit, a fourth adder, a second amplifier, a second propeller, a third signal setter, a fifth adder, a third amplifier, a third propeller, a first, a second and a third position sensor, a second and a third velocity sensor, a fourth multiplier unit, a sine and a cosine function generator.

EFFECT: invention provides high accuracy of controlling an underwater robot in conditions of significant effect of a viscous environment.

1 dwg