해미래 로봇팔의 수중작업 지향형 원격 제어 기술 개발

Abstract

This paper presents a method to enhance underwater working efficiency of tele-operated underwater manipulators mounted on ROV by using an underwater task-oriented remote control technique. According to the structure of the underwater task such as coring, drilling and underwater connector-mating, many control methods of manipulators can be applicated to the underwater works to be manipulated by the ROV. In this study, the control methods are defined as three categories : joint-space control, automatic control,workspace control for the tasks requiring accurate motion of the end-effector in the structured tasks. The underwater task-oriented control method is established by the combination of these control methods considering the structure of the each underwater task. The developed master system including the three control methods is advantageous in the structured tasks, while the existing master system with joint-space controller is useful for the unstructured tasks. By combination of the two master systems, we improve the working efficiency of the underwater tele-operated manipulator system. In this paper, the hardware and software of the developed underwater task-oriented control system are presented. Using the developed system, we propose a strategy to improve the working efficiency of the underwater tele-operated manipulator system. Experimental results are presented to investigate the effectiveness of proposed method using the implemented manipulator system mounted on the KORDI ROV Hemire.