유체항력 최적화를 위한 수중로봇팔의 운동경로 계획

Abstract

This paper presents a drag optimal motion planning procedure for the articulated robots moving in an underwater environment. The drag force acting on cylindrical underwater arms is modeled and a directional drag measure is defined as a quantitative measure of reaction force in specific direction of workspace. A repetitive trajectory planning method is formulated from general point-to-point trajectory planning method. In order to globally optimize the parameters of repetitive trajectories under inequality constraints, 2-level optimization scheme is proposed, which adopts the genetic algorithm (GA) as 1st level optimization and sequential quadratic programming as 2nd level optimization. To verify the validity of proposed method, optimization examples of periodic motion planning with simple two-link planner robot are also presented in this paper.