Underwater integrated manipulator slave manipulator control device and method

The invention belongs to the technical field of motion control of underwater manipulators, and particularly relates to an underwater integrated manipulator slave manipulator control device which comprises a master control unit, a hydraulic switch master valve, a joint motion control unit, a joint position sensor and a joint motion control hydraulic valve. The main control unit is used for receiving a hydraulic main valve switching command of the main hand controller and controlling opening and closing of a hydraulic switch main valve in combination with the collected fault state of the main control unit and the fault state of the joint motion control unit. The joint motion control unit is used for collecting corresponding joint position data through a joint position sensor; the control unit is further used for sending the collected joint position data to the main control unit, receiving the analog control quantity of the control hydraulic valve and controlling the joint movement control hydraulic valve. Accor