Study on the Lightenning of the Weight of the Underwater Robot Mainpulator

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1.Study on the force control(1)We tried to apply the Learning Feed-Forward Controller (LFFC) to the hybrid position and force control system of the underwater robot manipulator. And to hasten the learning speed, we modified the usual learning equation by adding the proportional term. As a result, the system can learn the characteristics of the controlled system with sufficiently high speed for practical use.(2)By the high speed learning type feed-forward control mode mentioned above, it is considerd to be able to construct the practical control system which is expected to control not only the position of the hand of the manipulator but also the force to the object of operation with very high adaptiveness to the nonlinearity of the manipulator dynamics and to the change of the operating condition.2.Study on the manipulator hand trajectory which minimizes the energy consumption(1)It is proved that the operating energy at the inimum consumption can be reduced to about 60% compared with that at the minimum rate of the change of acceleration of the position of the hand.(2)The trajectory of the inimum operating energy consumption abtained from the solution of the two point boundary value problem can be approximated with neural network with-sufficient accuracy for practical use. And so, it can be expected to construct the trajectory control system under the minimum operating energy consumption.As a result described above, we could establish the basic technique ;(〕SY.encircled1.〔) on the force control mode, the technique of avoiding the addition of excess force to the operating object for the lightenning of the manipulator structure,(〕SY.encircled2.〔) on the minimum operating energy consumption, the technique of the acquistion of the manipuretor hand trajectory for the lightenning of power source of the manipulator.