Control de orientación para un robot subacúatico mediante un dispositivo háptico.

Abstract

The project aimed to develop a navigation control system for the Chasing Dory underwater robot, remotely operated using a haptic controller to achieve precision feedback. A comparative analysis was conducted between communication systems and haptic devices applicable to underwater robotics, opting for the most appropriate system and device. The programming included controlling the submarine's movement and the feedback from the controller through a data processor, using a PI controller to adjust the force applied to the actuators based on the robot's immersion. Moreover, an additional system was implemented using CAD design software to integrate a sensor connected to the data processor. This sensor allowed the collection of information from the underwater environment, presented in a graphical interface. The tests of the haptic device showed an effective control over maximum and minimum force. The pressure sensor used showed a standard deviation of approximately 0.16 units, indicating high precision in measurement. However, a complete loss of information was detected during communication tests at about twenty meters away, highlighting the need for future improvements. The haptic device optimized the robot's orientation control with an average error of only 0.03 at maximum immersion. The communication system presented satisfactory results, with data reception greater than 50% at 14 meters and a response rate greater than 90% at 12 meters, improving the remote operation of the robot. Overall, the project achieved its objectives and highlighted the importance of accurate measurements in controlling the actuators of the haptic controller. This ability to simulate the force of water opens up new possibilities in underwater applications, strengthening the reliability of robotics in underwater environments.