McKibben型アクチュエータを用いたパラレル機構の制御系構築とその評価

抄録

Using the ROVs has been increased in various underwater works. It is easy for operators to achieve the real-time operation of the fine works with a camera monitor. However, it is difficult to recognize the ROV posture in deep sea, since we cannot observe the state of the ROV posture from the boat. For simplicity of operation, we used a parallel mechanism as an interface for transmitting the state of ROV to the operator. The operator can intuitively recognize the ROV posture, since the interface gives the angle variation corresponding to the ROV posture to the operator. This paper demonstrates the control system based on the PID controller and its evaluation results.