海洋ロボット用マニピュレータの操作エネルギー最小化軌道制御に関する研究

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Recently, ROV (Remotely Operated Vehicle) is often used in the development of the ocean resources. But ROV receives energy and information from mother ship by cable, and so the activity of the vehicle is restricted. By this reason untethered type ocean robot has recently been reserched and developed. Because of the energy of the ocean robot is limited, saving of the energy consumption is important to expand working area of the robot and to put it to practical use. In this paper, the dynamic optimization theory is applied to find the trajectory of the hand of the manipulator, which minimizes the energy consumption. The model of the under water manipulator is 2-joint that moves in a vertical plane. Since the energy consumption assumes to be proportional to the system input, the performance index is the time integral of the square of magnitude of system input. The problem that brings the hand from initial position to final position in a given time is formulated as two point boundary value problem. The problem is solved numerically by using a Newton-like method. As a result, in present method saving of the energy consumption is about 40% compared with another model which minimizes the rate of the change of acceleration of the position of the hand. If the gravity term and the buoyancy term are cancelled, it is shown that the trajectory is independent of the final time, or it depends only on the initial position and final position of the hand.
社団法人日本船舶海洋工学会の論文
1994-03-29

海洋ロボット用マニピュレータの操作エネルギー最小化軌道制御に関する研究

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