物体を把握した水中回転弾性アームの位置決め制御

概要

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For the manipulation of an underwater robot affected by large inertia force due to the added mass and nonlinear fluid drag force, it is necessary to take into consideration the flexibility of the manipulator in order to position it accurately and quickly. In addition, a manipulator gripping a body of unknown shape at the tip is affected by unknown inertia force and fluid drag force of the body. Therefore, an estimation of the body mass and fluid drag force coefficient is needed. In this study, a positioning system for a flexible rotating arm with a body at the tip in water is developed using the optimal control theory. In this system, the arm is rotated with constant torque at first to estimate the parameter of the tip body. Using this parameter, optimal feedback gain is calculated, and the arm is controlled in order to attain the target position. Then, model experiments are carried out and the performance of the developed control system is confirmed.
一般社団法人日本機械学会の論文
1993-06-25