Experimental study on control of underwater vehicle-manipulator systems

针对水下机器人-机械手系统（UVMS），已经提出了控制方法。然而，实验研究只是少数。本研究的主要目的是发展紫外线监测系统的控制方法，并利用紫外线监测系统进行实验验证。数字解析加速控制（RAC）。2.连续和离散时间RAC，以减少使用动态方程的计算时间。3.神经网络控制4.干扰补偿控制，并以双连杆水下机器人为例验证了该方法的有效性。此外，开发用于车辆和机械手的两个测量系统是次要目的。研制了第一套由三个微型陀螺组成的飞行器姿态测量系统。由于陀螺的输出信号与角速度有关，推导了一种在离散时间域中计算滚动-俯仰-偏航角的方法。使用上述水下机器人检查系统的有效性。其次，测量系统是一种用于车载机械手物体操纵的立体视觉系统。该系统由两个CCD摄像机组成，测量物体相对于车辆的相对位置和姿态。由于两个摄像机可以使用步进电机进行平移、倾斜和滑动，因此两个摄像机可以平行接触。因此，可以容易地对应两个相机图像。考虑空气与水之间折射的实验结果表明了该测量系统的有效性。

For underwater vehicle-manipulator systems (UVMS) control methods have been proposed. However the experimental studies are only a few. Main purpose of this research project is development of the control methods for UVMS, and verifies the methods by experiments using an UVMS.The developed control methods for UVMS are follows : 1. Digital resolved acceleration control (RAC). 2. Continuous and discrete time RACs to reduce the computational time using dynamic equation. 3. Neural network control. 4. Disturbance compensation control.Effectiveness of the methods are verified and demonstrated by using an underwater robot with 2 link manipulator. Furthermore, development of two measurement systems for the vehicle and manipulator is the secondary purpose. First system with three mini gyroscopes is developed for vehicle attitude measurement. Since output signal of the gyroscope is concerned with angular velocity, a calculation method of roll-pitch-yaw angles is derived in discrete-time domain. Effectiveness of the system is examined using the underwater robot described above. Next measurement system is a kind of stereovision systems for object manipulation of the manipulator equipped on the vehicle. This system is consisting of two CCD cameras and measures the relative position and attitude of the object with respect to the vehicle. Since the two cameras can pan, tilt, and slide using stepping motors, the both camera can contact in parallel. Therefore, both camera images can be corresponded easily. Experimental results considering refraction between air and water show the effectiveness of the measurement system.