수중 자율작업용 로봇 플랫폼 개발
Development of Robot Platform for Autonomous Underwater Intervention
2
조회
0
다운로드
7
인용
0
참고문헌
키워드
초록
KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.
Abstract
KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.
참고문헌 (8)
- Christ RD, "The ROV Manual: A User Guide for Observation-Class Remotely Operated Vehicles" (2007), Elsevier
- 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]
- 이영준, "무인잠수정을 위한 효과적이고 유연한 설치 성능을 지닌 수중 레이저스캐너 개발", 한국해양공학회지, 32(6), pp.511~517 (2018), 한국해양공학회[DOI]
- Mohan, S., "Coordinated Motion Control in Task Space of an Autonomous Underwater Vehicle-manipulator System", Ocean Engineering, 104, pp.155~167 (2015)[DOI]
- Ridao, P., "Intervention AUVs: The Next Challenge", Proceedings of the 19th World Congress The International Federation of Automatic Control, pp.12146~12159 (2014)
- Ridolfi, A., "A Dynamic Manipulation Strategy for an Intervention : Autonomous Underwater Vehicle", Advances in Robotics & Automation, 4(2), pp.1~16 (2015)[DOI]
- Simetti, E., "Task Priority Control of Underwater Intervention Systems : Theory and Applications", Ocean Engineering, 164, pp.40~54 (2018)[DOI]
- Sivcev, S., "Underwater Manipulator : A Review", Ocean Engineering, 163, pp.431~450 (2018)[DOI]