115 振動翼とリアクションホールを用いた中立浮力式水中ロボットのマニピュレータの位置決め

概要

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In development of the robot used in the special environment, it is important to skillfully utilize characteristics of the environment. In the underwater robot, the utilization of buoyancy is considered. Incase of the neutral buoyancy style underwater robot, though the action range is wide, the body is moved by the reaction when the manipulator is operated. In this study, it is proposed that the reaction of the manipulator is compensated for by the oscillating-wing and the reaction wheel. At first, it is confirmed by the model experiment that whether lift coefficient and drag coefficient in steady state could apply to unsteady positioning control. On the basis of the result, the mathematical model of underwater robot is derived. Then the positioning system is developed by applying the sliding mode control theory, and the validity is confirmed by the numerical simulation. In the result, it is cleared that the accurate positioning is possible.
一般社団法人日本機械学会の論文
2000-09-01