CCD Camera

Fig. 4. Configuration of the underwater robot system

The measurement and control system consist of a CCD camera, a video tracker, and a personal computer (PC). Two LEDs are attached to the base, and their motion is monitored by the CCD camera. Video signals of the LED markers are transformed into position data by the video tracker, and put into the PC via a GPIB communication line. Using the position data and the rotational angle of each joint measured by the encoder, the positions and attitude angles of the robot base and manipulator are computed in the PC. The PC is also used as a controller.

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