Experimental study on control of underwater vehicle-manipulator systems

针对水下机器人-机械手系统(UVMS)，已经提出了各种控制方法。然而，实验研究还很少。本课题的主要目的是研究UVMS的控制方法，并在UVMS上进行了实验验证。2.利用动态方程减少计算时间的连续和离散时间RAC。3.神经网络控制。4.扰动补偿控制：以双连杆水下机器人为例，验证了所提方法的有效性。此外，开发车辆和机械手的两个测量系统是次要目的。首先，研制了一套由三个微型陀螺仪组成的姿态测量系统。针对陀螺仪输出信号与角速度有关的特点，在离散时间域导出了滚转-俯仰-偏航角的计算方法。使用上述水下机器人对系统的有效性进行了检验。NEXT测量系统是一种用于对安装在车辆上的机械手进行物体操作的立体视觉系统。该系统由两个ccd摄像机组成，测量物体相对于车辆的相对位置和姿态。由于两个摄像头可以使用步进电机进行平移、倾斜和滑动，因此两个摄像头可以平行接触。因此，两个相机图像可以容易地对应。考虑空气和水之间的折射的实验结果表明了该测量系统的有效性。

For underwater vehicle-manipulator systems (UVMS) control methods have been proposed. However the experimental studies are only a few. Main purpose of this research project is development of the control methods for UVMS, and verifies the methods by experiments using an UVMS.The developed control methods for UVMS are follows : 1. Digital resolved acceleration control (RAC). 2. Continuous and discrete time RACs to reduce the computational time using dynamic equation. 3. Neural network control. 4. Disturbance compensation control.Effectiveness of the methods are verified and demonstrated by using an underwater robot with 2 link manipulator. Furthermore, development of two measurement systems for the vehicle and manipulator is the secondary purpose. First system with three mini gyroscopes is developed for vehicle attitude measurement. Since output signal of the gyroscope is concerned with angular velocity, a calculation method of roll-pitch-yaw angles is derived in discrete-time domain. Effectiveness of the system is examined using the underwater robot described above. Next measurement system is a kind of stereovision systems for object manipulation of the manipulator equipped on the vehicle. This system is consisting of two CCD cameras and measures the relative position and attitude of the object with respect to the vehicle. Since the two cameras can pan, tilt, and slide using stepping motors, the both camera can contact in parallel. Therefore, both camera images can be corresponded easily. Experimental results considering refraction between air and water show the effectiveness of the measurement system.