水中ロボットマニプレータの運動制御 : 第1報,一軸方向の流体力の適応補償方法

概要

論文の詳細を見る
Robotic manipulators working under underwater environments have influences of fluid forces from liquid, unlike in the air. The fluid force gives problems to the manipulators, such as oscilations in the liquid, which cannot allow the manipulator to move at the higher speed. Thus, the working efficiency cannot be improved. In this paper, a method of adaptive fluid force compensation is shown by using the model reference adaptive control approach in a serial-parallel connection. The proposed adaptive compensation method employs only the position and velocity information. The nonlinear effects of fluid forces are compensated. Some comparisons were carried out with the simple fixed gain feedback control with/without the output feedback loop of strain gauges.
一般社団法人日本機械学会の論文
1988-11-25