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

在开发用于空间、海洋等特殊环境中的机器人时，如何巧妙地利用环境的特点是很重要的。在海洋开发中，利用中性浮力式水下机器人进行资源调查、海洋结构物安装和修复。虽然作用范围很广，但由于它是漂浮的，机器人在工作中操作时，它是靠反作用力移动的。因此，精确的定位不仅仅由机械手的执行器来完成。在这项研究中，提出了机械手的反作用力由对臂补偿，机械手顶端被抓住的物体的反作用力由安装在对臂顶端的面积和方向变化的板来补偿，力矩由反作用力轮来补偿。这项技术的特点之一是它不会对圆周的流动产生太大的干扰。开发了定位系统，并通过数值仿真验证了定位系统的有效性。然而，由于机械手运动中对臂的运动受到限制，所以在静水中是有效的，但对扰动的影响很弱。为此，提出了反作用轮加振翼的补偿方法。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，建立了水下机器人的数学模型。然后应用滑模控制理论设计了定位系统，并通过数值仿真验证了系统的有效性。结果表明，保持平移运动的精确定位仍然是可能的。

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.