The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2011
Session ID : 1A2-L15
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1A2-L15 Numerical Analysis of Attitude Control for An Underwater Robot with Movable Floats(Underwater Robot and Mechatronics)
Tomohiro UEDA, Norimitsu SAKAGAMI, Mizuho SHIBATA, Hiroyuki OHNISHI, Shigeo MURAKAMI, Sadao KAWAMURA
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Abstract
We have developed an attitude control system for a human-sized underwater robot with dual-arm, based on shifting the center of buoyancy with respect to the center of gravity. Shifting of the center of buoyancy is accomplished by two float blocks that are able to move independently. In this paper, we discuss an algorithm for calculating control inputs of positions of the moving floats.
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© 2011 The Japan Society of Mechanical Engineers
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