重力と浮力を考慮した水中浮遊ロボットの運動制御

概要

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Ocean development has been advanced for a long time in order to obtain ocean resources and energy, but its working environment is very severe for human beings, so underwater working robots which can be used instead of human beings have came into demand. This paper deals with attitude control of the main body of an unconstrained underwater robot using a movable counterweight controlled by the optimal servo system and trajectory control of a manipulator using disturbance compensation control(DCC). From the result obtained by computer simulations, it was made clear that the attitude of the main body can be controlled without steady-state error by means of controlling the position of the counterweight using the optimal servo system. In addition trajectory control of the manipulator can be carried out by using DCC which regards the reaction force due to the movement of the counterweight as a disturbance.
一般社団法人日本機械学会の論文
1995-03-25