수중 로봇 운동 재현을 위한 모션플랫폼 설계

Abstract

In this paper, we describe the robot motion reproduction experiments to check the feasibility of cyber-physical operation system and hardware-in-the-loop system. We simulated the interaction between underwater robot model and real bathymetry data using the dynamics simulator (DAFUL), and implemented this robot motion data using six-axis motion platform. This motion data measured using fiber-optic Gyroscope simultaneously. The experiment results showed the resonable motion reproduction with small delay and alignment error.