잠수정 운동 보상 기반 수중 로봇팔의 작업공간 구동 기법

Abstract

This paper presents a workspace control method based on motion compensation of ROV(Remotely Operated vehicle) for underwater manipulator. The method is developed to precisely control the manipulator mounted on a floating ROV in undersea. The proposed method consists of a position tracking method with extended Kalman filter(EKF) for ROV, an input velocity compensation method for workspace control, and precise workspace control method. To verify the proposed method, an experimental result and an simulation result, which are based on the experimental data and specification of the KORDI deep-sea ROV Hemire, are presented.