The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Study on the Development of Underwater Robot Control System for Autonomous Grasping

자율 파지를 위한 수중 로봇 제어 시스템 구축에 관한 연구

  • Lee, Yoongeon (Ocean System Engineering Research Division, KRISO) ;
  • Lee, Yeongjun (Ocean System Engineering Research Division, KRISO) ;
  • Chae, Junbo (Ocean System Engineering Research Division, KRISO) ;
  • Choi, Hyun-Taek (Ocean System Engineering Research Division, KRISO) ;
  • Yeu, Taekyeong (Ocean System Engineering Research Division, KRISO)
  • Received : 2019.12.02
  • Accepted : 2020.01.28
  • Published : 2020.02.28
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Abstract

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

Keywords

References

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