The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Modified Swimming Pattern to Control Propulsive Force for Biomimetic Underwater Articulated Robot

생체모방형 수중 다관절 로봇의 추진력 제어를 위한 유영 패턴 재생성

  • Jeong, Seonghwan (Mechatronics Engineering, Chungnam National University) ;
  • Lee, Jihong (Mechatronics Engineering, Chungnam National University)
  • Received : 2016.05.04
  • Accepted : 2016.11.08
  • Published : 2016.11.30
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Abstract

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

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