2A2-D02 マニピュレータを搭載したAUVの開発 : 第二報 : ロボットシステムのモジュール化(水中ロボット・メカトロニクス)

抄録

In this paper, we designed system of AUV "Twin-Burger" for equipped manipulator. The robot has two pressure hulls, one is for control thrusters, and another one is for sensor and manipulator control. The system of the robot was developed using Module System that is packaging parts to unit in each of the one capability. Module system can realize easy maintenance and simplification wiring between modules in the robot.