Modeling and testing of control system for an underwater dual-arm robot

Abstract

Abstract The article exams the approach to testing the software of the control system for an underwater dual-arm robot. The proposed approaches are related both to the modeling of robot computer models in Matlab, to testing the control system software by a dual-arm robot simulator and to testing software by the real robot. The proposed testing approach made it possible to verify the correctness of the developed control system software by evaluating parameters such as accuracy and repeatability. An example of a test procedure using the robot simulator is given.