Skip to main content
Article thumbnail
Location of Repository

A Digital Control System for the Triton Undersea Robot

By Oli Francis, Graeme Coakley and Christopher Kitts


Abstract: Santa Clara University’s Triton undersea robot is a small shallow-water vehicle used to support a variety of marine science, technology, and education objectives. With a human-in-the-loop, analog-based control system at its core, a microcontroller-based digital control layer has been developed as a class exercise in order to augment piloting with automatic control and to support networked operation of the vehicle. This paper presents the Triton system, describes the design of the digital control layer, and presents experimental results of the system during operation. Copyright © 2002 IFAC. Keywords: Engineering Education, Robot Teleoperation, Microcomputer-based control

Year: 2002
OAI identifier: oai:CiteSeerX.psu:
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • (external link)
  • (external link)
  • Suggested articles

    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.