수중자율작업용 ROV 추진기 특성 분석에 관한 실험 연구

Abstract

In autonomous underwater intervention using robot with manipulator, the grasping based on an object detection and recognition is one of the core technologies. For the task, the robot goes close to target position, and the end-effector of manipulator approaches to the object, while the robot body should keep the position and attitude without a shake. In the robot motion control, it is very important that the dynamic parameters of robot including actuating force are identified. This paper inspects the thrusting characteristic of the intervention ROV developed by KRISO, which is the difference between the real exerted force and the expected force. First, the relation between input signal and thrusting force to each thruster is determined through water tank experiment. Next, the force and moment of robot exerted by thrusters are directly measured from F/T(Force/Torgue) sensor installed on the robot. The difference of the measured results and the expected values from thruster allocation and the thrusting force of each thruster can be known