2A2-C06 UVMSの連続・離散時間外乱補償制御(水中ロボット・メカトロニクス)

概要

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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. Furthermore, based on studies of Autonomous Underwater Vehicles, control methods of UVMS have been proposed. We have proposed continuous time and discrete time Resolved Acceleration Control (RAC) methods for UVMS. The effectiveness of the proposed methods have been shown by simulations and experiments using a free floating underwater robot with 2 dimensional and vertical planar 2-link manipulator. Furthermore, we have also proposed continuous time and discrete time RAC methods with disturbance observer. In this paper, both control performances are examined by experiments.
一般社団法人日本機械学会の論文
2007-05-11