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Position control of a 3-link dual-arm underwater robot using model error compensator -Considering the difference in response speed between a vehicle and manipulators-
http://hdl.handle.net/10228/0002001512
http://hdl.handle.net/10228/0002001512289abb2f-20a8-4ece-971f-6d33777ecfd8
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
10449990.pdf (4.4 MB)
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| アイテムタイプ | 共通アイテムタイプ(1) | |||||||||||||
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| 公開日 | 2025-03-26 | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Position control of a 3-link dual-arm underwater robot using model error compensator -Considering the difference in response speed between a vehicle and manipulators- | |||||||||||||
| 言語 | en | |||||||||||||
| 著者 |
Nishio, Reo
× Nishio, Reo
× 花澤, 雄太
WEKO
23780
× 相良, 慎一× Ambar, Radzi
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| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) ISAROB | |||||||||||||
| 言語 | en | |||||||||||||
| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | Research and development efforts are ongoing to control underwater robots equipped with manipulators (known as Underwater Vehicle-Manipulator Systems, or UVMS) that can perform underwater tasks in place of humans. We have also proposed a Resolved Acceleration Control (RAC) method, a position control approach for UVMS, and have validated its usefulness through experiments using a free-floating, 3-link dual-arm underwater robot. Now, the model of fluid forces used to control underwater robots has modeling errors. Furthermore, the response speed of the vehicle is much slower than that of the manipulator. To solve these problems, we propose a RAC method for UVMS with MEC, which takes into account the difference in response speed between the vehicle and manipulator, and demonstrate its effectiveness through experiments on the position control of a robot affected by periodic wave disturbances. | |||||||||||||
| 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. OS15-1, 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 | Position 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 | |||||||||||||
| 開始日 | 22 | |||||||||||||
| 終了年 | 2025 | |||||||||||||
| 終了月 | 01 | |||||||||||||
| 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 | 10449990 | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 14244 | |||||||||||||
