자율작업용 원격운용잠수정의 추진 특성에 관한 실험 연구
Experimental Study on Propulsion Characteristic of Autonomous Intervention ROV
1
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.
Abstract
In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.
참고문헌 (11)
- Ait-Ahmed, N., "On Modeling of Marine Thrusters for Underwater Vehicles", Proceedings of 7th IFAC Conference on Control Application in Marine Systems, 40(17), pp.211~216 (2007)
- Christ, R. D., "The ROV Manual: A User Guide for Observation-Class Remotely Operated Vehicles" (2007), Elsevier
- Fossen, T. I., "Guidance and Control of Ocean Vehicles" (1994), John Wiley & Sons
- Giovanni, I., "Modelling and Identification of Underwater Robotic Systems", Ph.D, pp.1998
- Haugalokken, B. O. A., "Experimental Validation of End-effector Stabilization for Underwater Vehicle-manipulator Systems in Subsea Operations", Robotics and Autonomous Systems, 109, pp.1~12 (2018)[DOI]
- Healey, A. J., "Toward an Improved Understanding of Thruster Dynamics for Underwater Vehicles", IEEE Journal of Oceanic Engineering, 20(4), pp.354~361 (1995)[DOI]
- Mohan S., "Coordinated Motion Control in Task Space of an Autonomous Underwater Vehicle-manipulator System", Ocean Engineering, 104, pp.155~167 (2015)[DOI]
- Simetti, E., "Task Priority Control of Underwater Intervention Systems : Theory and Applications", Ocean Engineering, 164, pp.40~54 (2018)[DOI]
- Tsukamoto, C. L., "Comparison Study on Advanced Thruster Control of Underwater Robots", Proceedings of International Conference on Robotics and Automation, pp.1845~1850 (1997)
- 여태경, "수중 자율작업용 로봇 플랫폼 개발", 한국해양공학회지, 33(2), pp.168~177 (2019), 한국해양공학회[DOI]
- Yoerger, D. R., "The Influence of Thruster Dynamics on Underwater Vehicle Behavior and Their Incorporation into Control System Design", IEEE Journal of Ocean Engineering, 15(3), pp.167~178 (1990)[DOI]