CR200의 자세 제어를 통한 수중 탐사 장비의 여유자유도 생성 및 활용 기법

Abstract

This paper presents the method of redundancy generation and application of underwater exploration equipment mounted on the seabed walking robot CR200 by using the posture control of the seabed robot. The redundancy of equipments including an acoustic camera and a scanning sonar is the degree of freedom of the robot’s body, which is generated by motion of the six legs equipped at both sides of CR200. Therefore, to generate the redundancy, the body posture control method is established through a coordinates transformation technique. Based on the control method, a maximum transformation bound of body center is calculated under given the legs’ posture. Through the results, the extended exploration areas of the underwater equipments are calculated. In addition, for increment of efficiencies of underwater work, survey, and walking, the application method of the underwater equipments is described.ng an acoustic camera and a scanning sonar is the degree of freedom of the robot’s body, which is generated by motion of the six legs equipped at both sides of CR200. Therefore, to generate the redundancy, the body posture control method is established through a coordinates transformation technique. Based on the control method, a maximum transformation bound of body center is calculated under given the legs’ posture. Through the results, the extended exploration areas of the underwater equipments are calculated. In addition, for increment of efficiencies of underwater work, survey, and walking, the application method of the underwater equipments is described.