| アイテムタイプ |
共通アイテムタイプ(1) |
| 公開日 |
2025-03-26 |
| タイトル |
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|
タイトル |
Force control experiment of a 3-link dual-arm underwater robot with model error compensator |
|
言語 |
en |
| 著者 |
Osugi, Kensho,
Nishio, Reo
花澤, 雄太
相良, 慎一
Ambar, Radzi
|
| 著作権関連情報 |
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|
権利情報 |
Copyright (c) ISAROB |
|
言語 |
en |
| 抄録 |
|
|
内容記述タイプ |
Abstract |
|
内容記述 |
The underwater environment is an extreme condition for humans, making direct underwater operations hazardous. Consequently, the development of underwater robots equipped with manipulators (UVMS: Underwater Vehicle-Manipulator System) to perform tasks in place of humans has been pursued. We have proposed Resolved Acceleration Control (RAC) methods for UVMS as position control methods. Additionally, as a force control method for UVMS end-effectors, we have proposed position-based impedance control methods using the RAC methods for UVMS. However, accurately modeling the fluid forces acting on the robot underwater is challenging, resulting in modeling errors. To compensate for such errors, the Model Error Compensator (MEC) has been proposed. The MEC incorporates the model of the controlled system and compensates for the modeling errors by feeding back the difference between the model output and the controlled system output. In this paper, we construct a control system for a 3-link dual-arm underwater robot by adding MEC to a position-based impedance control method using the RAC method for UVMS, and verify the usefulness of the constructed control system through force control experiments. |
|
言語 |
en |
| 備考 |
|
|
内容記述タイプ |
Other |
|
内容記述 |
30th International Symposium on Artificial Life and Robotics, AROB 30th 2025, 10th International Symposium on BioComplexity, ISBC 10th 2025, January 22-24, 2025, B-Con PLAZA, Beppu, Japan |
|
言語 |
en |
| 書誌情報 |
p. OS15-2,
発行日 2025-01
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| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
Underwater Robot |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
Manipulator |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
Impedance control |
| 言語 |
|
|
言語 |
eng |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_5794 |
|
資源タイプ |
conference paper |
| 出版タイプ |
|
|
出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| 会議記述 |
|
|
|
会議名 |
30th International Symposium on Artificial Life and Robotics, AROB 30th 2025, 10th International Symposium on BioComplexity, ISBC 10th 2025 |
|
|
言語 |
en |
|
|
開始年 |
2025 |
|
|
開始月 |
01 |
|
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開始日 |
22 |
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終了年 |
2025 |
|
|
終了月 |
01 |
|
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終了日 |
24 |
|
開催国 |
JPN |
| 査読の有無 |
|
|
値 |
yes |
| 研究者情報 |
|
|
URL |
https://hyokadb02.jimu.kyutech.ac.jp/html/100000661_ja.html |
| 論文ID（連携） |
|
|
値 |
10449989 |
| 連携ID |
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|
値 |
14243 |
10449989.pdf (2.9 MB)
