Numerical and Experimental Analysis of Portable Underwater Robots with a Movable Float Device

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2021-12-20 DOI:10.20965/jrm.2021.p1234

N. Sakagami, M. Shibata, Tomohiro Ueda, K. Ishizu, K. Yokoi, S. Kawamura

引用次数: 0

Abstract

This report describes a numerical and experimental study of a posture control device based on a movable float for portable underwater robots. We numerically analyzed the static stability using a stability curve and allowable spatial range of a center-of-gravity shift caused by a payload shift or manipulator configuration. Further, we proposed a feedback controller based on direct pitch and roll signals to change and maintain robot posture. We tested the feedback control using a numerical simulator and conducted experiments in a water tank using two portable underwater robots to demonstrate the effectiveness of the movable float device and proposed controller. The results of the field experiments showed that the device and proposed controller can be employed for effective underwater operations of portable underwater robots.

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带有可移动浮子装置的便携式水下机器人数值与实验分析

本文介绍了一种基于可移动浮子的便携式水下机器人姿态控制装置的数值和实验研究。利用稳定性曲线和载荷位移或机械臂结构引起的重心位移的允许空间范围对其静态稳定性进行了数值分析。此外，我们提出了一种基于俯仰和滚转直接信号的反馈控制器来改变和保持机器人的姿态。我们使用数值模拟器测试了反馈控制，并使用两个便携式水下机器人在水箱中进行了实验，以证明可移动浮子装置和拟议控制器的有效性。现场实验结果表明，该装置和控制器可用于便携式水下机器人的有效水下作业。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.