1P1-E22 UVMS用捕獲物体位置・姿勢計測システムの水中基礎実験

概要

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This paper is concerned with a position and attitude measurement system for underwater robots. Recent years dynamics and control of Underwater Vehicle-Manipulator Systems (UVMS) have been studied. The manipulators are required to catch and handle objects. Therefore, sensors that measure position and attitude of the objects must be mounted on UVMS and it is considered that stereovision systems are one of the sensors. However there is no stereovision system for UVMS. We have proposed a stereovision system for UVMS using mobile cameras that can pan, tilt and slide individually by stepping motors, and track the object. Effectiveness of the proposed system was demonstrated by experiments of positon measurement on the ground. In this paper, position and attitude measurement experiments in the water are done. Experimental results show the effectiveness of the proposed system.
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