水中ロボットマニピュレータの繰返し学習制御に関する理論的考察と実験的検証

概要

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On underwater robot manipulators, high speed and high precision are basic requirements in order to improve efficiency of operations. To satisfy these requirements, feedforward control inputs are crucial. For making feedforward inputs, one of the methods is to estimate all parameters of underwater robot dynamics. However, parameter estimation of hydrodynamic coefficients is very difficult because the dynamics is complicated. To overcome such a difficulty, we apply iterative learning control to underwater robots. In this paper, we theoretically discuss the performance of iterative learning control for underwater robot manipulators. Moreover, the effectiveness of the learning control is experimentally verified through several experimental results.
社団法人日本船舶海洋工学会の論文