MULTI DEGREE-OF-FREEDOM UNDERWATER OPERATION ROBOT BASED ON UNMANNED SURFACE VEHICLE

摘要

PURPOSE: An underwater robot based on multi degree-of-freedom of an offshore robot is provided to precisely control the position of the underwater robot at a high speed using a cheap sensor. CONSTITUTION: An underwater robot based on multi degree-of-freedom of an offshore robot comprises three degree-of-freedom of underwater robot(10) and four degree-of-freedom of offshore robot(20). The underwater robot comprises two degree-of-freedom of camera(60). The camera examines and measures structures or ecosystem in the water. The offshore robot is connected to the underwater robot by a tether cable and transfers the underwater robot. The offshore robot stably supplies power to the underwater robot, measures the accurate position of the underwater robot and controls the length of the tether cable. The underwater robot is integrated into the offshore robot.