로봇학회논문지 제15권 제1호(통권 제55호) (p.32-38)

사용자 운용 편의성을 위한 수중로봇 MR-1의 수조실험에 관한 연구

A Basic Study of Water Basin Experiment for Underwater Robot with Improving usability
키워드 :
Engineering Water Basin,Motion Control,Remotely Operated Vehicle,Underwater Robot

목차

Abstract
1. 서 론
2. 수중로봇 MR-1의 설계 및 좌표계 설정
   2.1 MR-1의 구성
   2.2 MR-1 설계
   2.3 좌표계 설정
3. 수중로봇 운동제어
   3.1 추진기 추력분배
4. 수조 실험
   4.1 수중 센서 실험
   4.2 수중로봇 운동 제어 실험
5. 결론 및 고찰
References

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.