POSITION AND FORCE CONTROL OF AUTONOMOUS UNDERWATER ROBOT WITH MANIPULATORS

为了实现水下机器人灵活作业的自主性，对多机械手协同工作进行了仿真和实验研究，推导了具有运动自由度冗余度的自由游泳水下机器人在外加广义力作用下的逆动力学和运动学逆解公式。将该方法应用于一个水下机器人模型，该模型安装了一个6自由度的任务臂和一对2个自由度的划桨臂，用于在自由游泳条件下进行稳定。数值仿真结果表明了所提出的稳定臂辅助协调控制方法的有效性。针对稳定臂的有效性，从水下机器人的稳定性和机动性的角度出发，对鱼鳍运动进行了实验分析，并对胸鳍模型进行了性能测试。对一种胸鳍运动装置进行的水动力试验表明，该装置在一定的摆动和超前摆动之间的相位差范围内产生推力。由鱼体模型和一对装置组成的鱼模型可以在同一位置转弯，还可以向前和向后游。

This research dealt with simulation and experiment studies for coordinated work of multiple manipulators on a free swimming autonomous underwater robot, aiming at achieving autonomy in the execution of dexterous tasks.The investigator derived the formulation for inverse dynamics as well as inverse kinematics of a free swimming underwater robot with multiple manipulators, having a redundancy of degrees of freedom (DOF) of motion, in the presence of external generalized forces. The method was applied to a model of underwater robot installing a 6 DOF mission arm and a pair of 2 DOF paddling arms used for stabilization in a free swimming condition. The numerical simulation results showed the effectiveness of the presented coordinated control method with the assistance of the stabilizing arms.Focusing on the effectiveness of the stabilizing arms, the research dealt with experimental analysis of fish fin motion and performance tests of pectoral fin model from the viewpoint of stabilization and maneuverability of underwater robot. The hydrodynamic tests of an apparatus of the pectoral fin motion made it clear that the apparatus generates thrust force in a certain range of phase difference between feathering and lead-lag motions. A fish model consisting of fish body model and a pair of the apparatus could turn at the same position as well as swim forward and backward.