POSITION AND FORCE CONTROL OF AUTONOMOUS UNDERWATER ROBOT WITH MANIPULATORS

带机械手的自主水下机器人的位置和力控制

• 批准号: 07651141
• 负责人: KATO Naomi
• 金额: $ 1.41万
• 依托单位: TOKAI UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07651141/
• 关键词: coordinated control; inverse dynamics; stabilizing arm; multiple manipulators; redundancy of degrees of freedom of motion; pectoral fin; lead-lag; feathering; スタビライジング・アーム; 水中ロボット; 姿勢安定; 動力学的干渉; 浮遊状態

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.

针对自由泳自主水下机器人的多机械手协调工作问题进行了仿真和实验研究，建立了具有冗余运动自由度的多机械手自由泳水下机器人的逆动力学和逆运动学方程，在存在外部广义力的情况下。将该方法应用于一个安装有6自由度使命臂和一对2自由度划水臂的水下机器人模型，用于自由游动条件下的稳定。数值仿真结果验证了稳定臂辅助下的协调控制方法的有效性，针对稳定臂的有效性，从水下机器人稳定性和操纵性的角度，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。胸鳍运动装置的水动力试验表明，该装置在一定的顺桨运动和超前滞后运动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动，也可以前后游动。

项目成果

加藤直三,デ-ビットM.レイン: "水中ロボットの多腕協調制御" 日本造船学会 論文集. 178. 675-684 (1995)

Naomi Kato，David M. Lane：“水下机器人的多臂协作控制”日本造船学会论文集 178. 675-684 (1995)。

加藤直三: "水中ロボットの多腕協調制御" 日本造船学会論文集. 178. 675-684 (1995)

Naomi Kato：“水下机器人的多臂协作控制”日本造船学会论文集 178. 675-684 (1995)。

N. Kato, D.M. Lane: "Coordinated control of Multiple Manipulators in Under mater Robots" 9th Int. Symp. on Unmanned, Untetheld, Submersible Tedinalty. 34-50 (1995)

N.加藤，D.M.

N.Kato: "Coordinated Control of Multiple Manipulators in Undervate Robots" 1996 IEEE Int.Conf.on Robotics and Antomation. 2505-2510 (1996)

N.Kato：“Undervate 机器人中多个机械手的协调控制”1996 年 IEEE Int.Conf.on 机器人学和 Antomation。

N.KATO: "Pectoral Fin Model for Maneuver of Underwater Vehicles" 1996 IEEE Sym.On Autonomous Underwater Vehicle Technology. 49-56 (1996)

N.KATO：“水下航行器机动的胸鳍模型”1996 IEEE Sym.On 自主水下航行器技术。