매니퓰레이터 기반 선저 틈새구역 청소를 위한 위치 기반 임피던스 제어 연구

Abstract

Biofouling is the buildup of marine life on the submerged parts of ship. Because biofouling brings about skin friction drag of ship and caused disturb ecosystem, the regulation of ship hull cleaning is being strengthened. However, niche area of ship is difficult to clearning using vehicle-based robot due to the complex cleaning area and the biofouling's fast rate of growth. In this paper, we proposed a method on the position-based impedance control for manipulator-based neche area cleaning of ship hull. The robot aram cleans the niche area with a constant force using the proposed impedance controller. Specially, the robot change the joint impedance along to the normal vector direction of target niche area to reduce the position error and increase the cleaning efficiency. The proposed algorithm was verified using several premilinary tests, and showed the potential performance during the tests.