로봇학회논문지 제15권 제1호(통권 제55호) (p.39-47)

자율 파지를 위한 수중 로봇 제어 시스템 구축에 관한 연구

A Study on the Development of Underwater Robot Control System for Autonomous Grasping
키워드 :
Remotely Operation Vehicle,Thruster Allocation,Robot Operating System,Experiment In Water Tank

목차

Abstract
1. 서 론
2. 운용 및 제어 시스템
   2.1 플랫폼 구성
   2.2 운용 시스템
   2.3 제어 시스템
3. 파지 작업을 위한 기초 실험
   3.1 실험 환경
   3.2 이동 경로 생성
   3.3 실험 결과
   3.4 고찰
4. 결 론
References

초록

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.