사용자 운용 편의성을 위한 수중로봇 MR-1의 수조실험에 관한 연구
A Basic Study of Water Basin Experiment for Underwater Robot with Improving usability
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초록
This paper describes a method for tracking attitude and position of underwater robots. Underwater work with underwater robots is subject to differences in work efficiency depending on the skill of the operator and the utilization of additional sensors. Therefore, this study developed an underwater robot that can operate autonomously and maintain a certain attitude when working underwater to reduce difference of work efficiency. The developed underwater robot uses 8 thrusters to control 6 degrees of freedom motion, IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and PS (Pressure Sensor) to measure attitude and position. In addition, the thruster allocation algorithm was designed to follow the control desired value using 8 thrusters, and the motion control experiments were performed in the engineering water basin using the thruster allocation method.
Abstract
This paper describes a method for tracking attitude and position of underwater robots. Underwater work with underwater robots is subject to differences in work efficiency depending on the skill of the operator and the utilization of additional sensors. Therefore, this study developed an underwater robot that can operate autonomously and maintain a certain attitude when working underwater to reduce difference of work efficiency. The developed underwater robot uses 8 thrusters to control 6 degrees of freedom motion, IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and PS (Pressure Sensor) to measure attitude and position. In addition, the thruster allocation algorithm was designed to follow the control desired value using 8 thrusters, and the motion control experiments were performed in the engineering water basin using the thruster allocation method.
참고문헌 (5)
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- L. L. Whitcomb, "Underwater robotics: Out of the research laboratory and into the field", 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.709~716 (2000)
- A. Pascoal, "Robotic Ocean Vehicles for Marine Science Applications : the European ASIMOV Project", OCEANS 2000MTS, 2000, ~
- T. I. Fossen, "Modeling of Marine Vehicles", Guidance and Control of Ocean Vehicles, 199(4), pp.6~56 (1994), Wiley
- D. H. Kim, "Redundancy Resolution and Robust Controller Design for Dynamic Stability Enhancement of Underwater Vehicle-Manipulator System", Ph.D., pp.2016