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

FIELD: physics.

SUBSTANCE: to generate the required correcting signals, the device further includes 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, first, second and third position sensors, a second velocity sensor, fourth and fifth multiplier units, a third velocity sensor, a first sine function generator, a divider unit, sixth and seventh multiplier units, a first cosine function generator, a first squaring device, a sixth adder, eighth, ninth and tenth multiplier units, a seventh adder, eleventh, twelfth, thirteenth and fourteenth multiplier units, a second cosine function generator, a second squaring device, a fifteenth multiplier unit, an eighth adder, a sixteenth multiplier unit, a second sine function generator, a third squaring device, seventeenth and eighteenth multiplier units, a fourth squaring device, nineteenth, twentieth, twenty first and twenty second multiplier units.

EFFECT: invention provides high accuracy of control in conditions of significant effect of a viscous environment.

1 dwg