The 21st SICE Kyushu Chapter Annual Conference Abstract [203A]

Last update: Fri Mar 28 21:23:56 2003

203A1
Resolved Acceleration Control of an Underwater Robot with Vertical Planar 3-link Manipulator
AUTHORS
Noriaki Nishigochi, Shinichi Sagara (Kyushu Institute of Technology)
ABSTRACT
Since underwater robots are necessary for ocean exploration, many studies have been done about Underwater Robotic Vehicle (URV) including Remotely Operated Vehicles (ROVs) and Autonomous Underwater Vehicles (AUV).However, there are few studies about underwater robots with manipulator.For a floating underwater robot with 2-link manipulator we have studied the position and posture control of robot base and the position of manipulator end-tip using a Resolved Acceleration Control (RAC) method with position and velocity feedback.And we have shown the validity of the control method by experiments and simulations. In this paper, we construct of control system the position and posture of robot base and manipulator end-tip using the RAC method for a floating under water robot with 2 dimensional and vertical planar 3 link manipulator.Increasing the number of manipulator¡Çs link from two to three, in addition to the position and posture of robot base and manipulator end-tip control, the posture of end-tip control will also become possible.The simulation result shows that the validity of the constructed control system.