Positioning of neutral buoyancy style underwater robot manipulator using the counter arm and the internal force

利用反臂和内力的中性浮力式水下机器人机械臂定位

• 批准号: 09650280
• 负责人: KAWASHIMA Takeshi
• 金额: $ 2.18万
• 依托单位: Kanagawa Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650280/
• 关键词: Underwater robot; Manipulator; Positioning; Neutral buoyancy; Reaction wheel; Counter arm; 振動翼; スライディングモード制御

In development of the robot used in the special environment such as space and ocean, it is important to skillfully utilize characteristics of the environment how. In the ocean development, the utilization of neutral buoyancy style underwater robot which is utilized for investigation of resources, installation of offshore structure and repair. Though the action range is wide, because it floats, robot it moves by the reaction, when the manipulator is operated in the work. Therefore, accurate positioning is not completed only by the actuator of the manipulator. In this study, it is proposed that the reaction of the manipulator is compensated for by the counter arm, the reaction of a object gripped at the manipulator tip is compensated for by the board in which area and direction change and which is installed at the counter arm tip, and the moment is compensated for by a reaction wheel. One of the features of this technique is that it does not disturb the flow of the circumference very much. The positioning system is developed, and the effectiveness is confirmed by the numerical simulation. However, it is weak for the disturbance, though it is effective in the still water since the movement of the counter arm is restricted in the manipulator movement. Therefore, the compensation by reaction wheel and oscillation -wing is proposed. At first, it is confirmed by the model experiment that whether lift coefficient and drag coefficient in steady state could apply to unsteady positioning control. On the basis of the result, the mathematical model of underwater robot is derived. Then the positioning system is developed by the application of the sliding mode control theory, and the validity is confirmed by the numerical simulation. In the result, it is cleared that the accurate positioning which held the translational motion still is possible.

在空间、海洋等特殊环境中使用的机器人的研制中，如何巧妙地利用环境的特性是十分重要的。在海洋开发中，利用中性浮力式水下机器人进行资源调查、海洋结构物安装和维修。虽然动作范围很广，但由于它是漂浮的，机器人靠反作用力运动，当机械手在工作时被操作。因此，精确定位并不是仅靠机械手的执行机构来完成的。本文提出用反臂补偿机械手的反力，用安装在反臂末端的面积和方向变化的板补偿机械手末端夹持物体的反力，用反轮补偿力矩。这种技术的特点之一是，它不会干扰流动的圆周非常多。研制了该定位系统，并通过数值仿真验证了该定位系统的有效性。然而，它是弱的干扰，虽然它是有效的在静水中，因为反臂的运动限制在机械手的运动。为此，提出了用反力轮和振动翼进行补偿的方法。首先通过模型实验验证了稳态升力系数和阻力系数是否适用于非定常定位控制。在此基础上，推导了水下机器人的数学模型。然后应用滑模控制理论开发了定位系统，并通过数值仿真验证了该方法的有效性。结果表明，保持平移运动的精确定位仍然是可能的。