2A1-A09 円筒型防水容器を用いたUVMS用物体位置・姿勢計測システムの水中基礎実験(水中ロボット・メカトロニクス)

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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 has been demonstrated by experiments of position and attitude measurement the ground. Furthermore, we have confirmed effectiveness from the measurement experiment that put the measurement system on a waterproofing box. In this paper, position and attitude measurement experiments of the system enclosed in cylindrical case are done. Experimental results show the effectiveness of the development system.
一般社団法人日本機械学会の論文
2008-06-06