POSITION AND FORCE CONTROL OF AUTONOMOUS UNDERWATER ROBOT WITH MANIPULATORS

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。

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.