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A Digital Control System for the Triton Undersea Robot

By Oli Francis, Graeme Coakley and Christopher Kitts

Abstract

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:10.1.1.135.4498
Provided by: CiteSeerX
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