자율작업로봇 추정을 위한 기초 연구

Abstract

RISO (Korea Research Institute of Ship & Ocean Engineering) has started a project to develop the core algorithms for autonomous intervention using underwater robot from 2017, which is ROV type with one 7-function manipulator. In this paper, to identify the dynamic parameters of robot, the information of actuating force, acceleration, velocity will be secured through water tank tests, which is useful for control the motion and path tracking. First, the thrusting force of eachthruster and the propulsion force of robot by thruster allocation are directly measured using load-cell and F/T(Force/Torque) sensor in the water. Next, for the propulsion force, the acceleration and velocity of robot are obtained from inner sensors such as IMU, DVL, pressure transmitter through the free acceleration experiment, which is performed toward surge, sway, and yaw direction respectively