Workspace and Dynamic Manipulability of Unconstrained Robot Manipulator in Water.

概要

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Since the working environment in ocean is very severe for human being, the development of underwater robot has been demanded. The influence of fluid surrounding a robot and its unconstrained state are characteristic of the underwater robot. As a first step of the study for the underwater robot, this paper investigates the workspace and the dynamic manipulability measure, which are used for the standards to evaluate the manipulator performance, for the manipulator mounted on a unconstrained robot in water and furthermore compares them to those of the space robot manipulator. The workspace of underwater robot which is called the straightpass workspace is smaller than the space robot in the condition of the model used in this paper. However its workspace depends on the shape of robot and manipulator. The tendency of dynamic manipulability at the position of the hand is almost the same as that of the space robot, but the dynamic manipulability measure is smaller because of the influence of the added mass and added inertia.
一般社団法人日本ロボット学会の論文