1P1-B09 ディジタル型外乱補償制御による2リンク水中ロボットの物体捕獲実験

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 and the control methods are based on Autonomous Underwater Vehicles. We have proposed continuous 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 floating underwater robot with 2 dimensional and vertical planar 2-link manipulator. Furthermore, we have also proposed RAC methods with disturbance observer for robot base. In this paper, experiments of the 2-link underwater robot using a discrete time RAC with disturbance observer for robot base and manipulator are done. The experimental results show the effectiveness of the control method.
2009-05-25