Numerical and Experimental Analysis of Portable Underwater Robots with a Movable Float Device
-
- Sakagami Norimitsu
- Tokai University
-
- Shibata Mizuho
- Kindai University
-
- Ueda Tomohiro
- Ritsumeikan University
-
- Ishizu Kensei
- Ritsumeikan University
-
- Yokoi Kenshiro
- Ritsumeikan University
-
- Kawamura Sadao
- Ritsumeikan University
この論文をさがす
説明
<p>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.</p>
収録刊行物
-
- Journal of Robotics and Mechatronics
-
Journal of Robotics and Mechatronics 33 (6), 1234-1247, 2021-12-20
富士技術出版株式会社
- Tweet
キーワード
詳細情報 詳細情報について
-
- CRID
- 1390008998106843520
-
- NII論文ID
- 130008131119
-
- NII書誌ID
- AA10809998
-
- ISSN
- 18838049
- 09153942
-
- NDL書誌ID
- 031874397
-
- 本文言語コード
- en
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可