Abstract
Thrusters with a single propeller are usually used for underwater robots. The thrust force of the thruster differs according to the rotational direction of the propeller and cannot be measured directly because of the use of magnet couplings. We have been developing a dual-shaft propeller thruster equipped with re_ective photosensors for measuring the rotational speed of propellers. In this paper, hall sensors are embedded on the proposed thruster to measure the rotational speed of propeller. Furthermore, comparison of the performance of re_ective photosensors and hall sensors are presented through experimental result.
