複眼カメラを搭載したDELTA-150のビジュアルサーボ系構築

抄録

Nowadays, a variety of robots has been studied and developed for undersea exploration. It is necessary for the robot to work long time in water in order to efficiently perform given tasks. We proposed a system to make the robot able to come back power supply unit and automatically charge battery under water. We confirmed ROV(Remotely Operated Vehicle) have conducted docking that assumes charging battery under water by the system, having shown it effective. As a next step, we tried docking that the system could apply for new ROV. Then, we constructed a new control system using Jacobian that shows relationship voltage and velocity. After we confirmed the system is effective, docking experiment in the sea have been conducted. In this report, the structure and result of experiments are reported in detail.