ZMP를 이용한 수중 무인잠수정-매니퓰레이터 시스템 구현

Abstract

To perform various and manipulative tasks under the water, Underwater Vehicle-Manipulator System (UVMS) can be useful system. Control of the motion of the manipulator is difficult due to disturbances such as payloads by the manipulator, currents, etc. To secure the dynamic stability of the UVMS, redundancy resolution method is proposed using a zero moment point(ZMP) algorithm. To implement the proposed ZMP algorithm and redundancy resolution method, a testbed composed of redundant manipulator was developed. Using the testbed, the performance of the ZMP algorithm and redundancy resolution method was tested. Test results show that the end-effector of the manipulator not only the desired trajectory accurately butalso improves the stable posture of the vehicle.