1P1-E32 運動方程式を用いたUVMSの離散時間分解加速度制御

概要

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Sinece Underwater Vehicle-Manipulator Systems (UVMS) are necessary for ocean exploration, many studies have been done about UVMS. However, the experimental studies are only a few. Through simulations and experiments of a floating underwater robot with 2 dimensional and vertical planar 2-link manipulator, we have shown that continuous and discrete time Resolved Acceleration Control (RAC) methods have good control performances in spite of using an inaccurate hydrodynamic model. In our proposed methods the time derivative of momentum have been used. Since the derivative of momentum is concerned with the dynamic equation, in this paper we propose a RAC method for UVMS using kinematic and dynamic equations. The effectiveness of the proposed method is shown by experiments.
一般社団法人日本機械学会の論文