Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Hovering Performance Improvement by Modifying COG of Underwater Robotic Platform

수중운항로봇 플랫폼의 무게중심 조정을 통한 제어성능 향상

  • Bak, Jeongae (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Jong-Won (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Jin, Sangrok (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Jongwon (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Seo, TaeWon (Department of Mechanical Engineering, Yeungnam University)
  • 박정애 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 진상록 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 서태원 (영남대학교 기계공학부)
  • Received : 2015.01.22
  • Accepted : 2015.06.09
  • Published : 2015.07.01
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Abstract

This paper presents control performance improvement by modifying center of gravity (COG) of an underwater robotic platform. To reduce the oscillation or to increase the positioning accuracy, it is important to accurately know the COG of an underwater robotic platform. The COG is determined by the three measured tilting angles of the platform in different postures. The tilting angle is measured while the platform is hanged by two strings. Using coordinate transformation, the plane of intersection is defined from the angle of the platform and the position of the string. The COG of the robotic platform is directly calculated by the intersected point in three defined planes. The measured COG is implemented to the control algorithm that is pre-designed in the previous research, and the empirical result on tilting gives 48.26% improved oscillation performance comparing to the oscillation result with the ideal COG position.

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References

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