Development of an underwater manipulator mounted for an AUV
Development of an underwater manipulator mounted for an AUV
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DOI：
10.1109/oceans.2005.1640020
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发表时间：
2005-09
期刊：
影响因子：
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通讯作者：
M. Ishitsuka;K. Ishii
中科院分区：
文献类型：
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作者：
M. Ishitsuka;K. Ishii
海洋是我们熟悉的环境，由于丰富的矿产资源、能源、空间等，海洋是一个有吸引力的环境，近几十年来，水下研究和开发迅速进行。然而，高水压、隐身、无氧等极端条件成为人类直接进入的巨大障碍。水下机器人作为替代人类的高效作业工具，正受到人们的期待和发展。为了实现水下机器人，机器人的自主化和智能化是一个重要的研究课题，水下机器人是水下作业的新工具。使用AUV进行工作的需求将增加，任务变得越来越复杂。因此，安装在水下机器人上的机械手有望在复杂任务中发挥重要作用。本文讨论了带机械手的水下机器人的动力学和控制问题。水下多体系统的运动由于各物体不是固定在固定的物体上，以及一个物体的运动会影响到其他物体并相互激励等原因，给研究水下多体系统的运动带来了很大的困难，流体动力学的引入也使问题更加复杂。非线性力，如拖曳力和液压力，作用在机械手和机器人车辆。近年来，国内外对水下机器人-机械手系统进行了大量的研究。我们还研究了机械手安装在机器人在水平和垂直平面的动力学和控制，并提出了一种方法，使用分解加速度控制（RAC）。本文介绍了作为智能软件开发试验平台的“Twin-Burger”型水下机器人上安装的双连杆水下机械手的运动学和动力学，以及水下机械手的RAC方法。其次，考虑到机械手与AUV之间的协调动作，提出了基于机器人动态可操作性的路径规划算法。为了评估RAC方法和路由算法的有效性进行了数值模拟。仿真结果表明，该控制器具有良好的控制性能.在仿真的基础上，利用CAD系统设计了一个机械手。采用磁力耦合的方法将扭矩传递到节点，实现防水机理。最后，通过实验验证了本文提出的路径规划算法的性能
Oceans, the familiar environment for us, are an attractive environment because of abundant mineral resources, energy, space, and so on, and underwater research and development are carried out rapidly during recent decades. However, the extreme conditions such as high water pressure, invisibility and non-oxygen become great barriers for human to access directly. Underwater robots are expected and developed as efficient tools for the operation instead of human beings. In order to realize underwater robots, the autonomy and intelligence of robots are one of the most important research topics and AUVs are the new tools for underwater operations. The demand of getting work using AUVs will increase and the missions become more and more complicated. Therefore, manipulators which are mounted on AUVs are expected to play an important role for complex tasks. This paper discusses the dynamics and control of an underwater robot equipped with a manipulator. The motion of multi-body systems in underwater environment has a lot of difficulties because that all bodies are not kept on fixed objects, and the movement of a body effects other bodies and excites each other, etc. The fluid dynamics also makes the problem more complicated matter. The nonlinear forces, such as drag forces and hydraulic forces, act on both the manipulators and the robot vehicle. Recent years, many studies on underwater vehicle-manipulator systems (UYMS) have been examined. We have also studied dynamics and control of a manipulator mounted on a robot in horizontal and vertical plane and proposed a method using resolved acceleration control (RAC). In this paper, kinematics and dynamics of a 2-link underwater manipulator mounted on an AUV "Twin-Burger" which was developed as a testbed for intelligent software development, and a RAC method for underwater manipulator is described. Next, the routing algorithm using the dynamic manipulability of the robot is proposed considering the coordinate action between manipulator and AUV. In order to evaluate effectiveness of the RAC method and the routing algorithm numerical simulations are performed. The simulation results show the good control performance. Based on the simulation, we designed a Manipulator using a CAD system. Magnet coupling method is introduced to transfer torque into the joints in order to realize waterproof mechanism. Finally, we examined the performance of proposed path planning algorithm through experiment