2リンクマニピュレータを搭載した水中ロボットの外乱補償制御(機械力学,計測,自動制御)

概要

論文の詳細を見る
Since Underwater Vehicle-Manipulator Systems (UVMS) are necessary for ocean exploration, many studies have been done about UVMS. However, as there are only a few experimental studies, we have proposed Resolved Acceleration Control (RAC) methods for UVMS. The effectiveness of the proposed methods have been verified by experiments using an underwater robot with 2 dimensional and vertical planar 2-link manipulator. Since the proposed methods have position and velocity feedbacks, the influence of an inaccurate hydrodynamic model can be reduced. To obtain higher control performance, we propose a continuous time RAC method with disturbance compensation. Experimental results show the effectiveness of the proposed method.
社団法人日本機械学会の論文
2007-02-25