UVMS用分解加速度制御法を用いた3リンク双腕水中ロボットの位置および力制御実験 ‐ 固定物体を片手把持した場合 ‐

川口 貴之; 山本 伸吾; 関 優; 相良 慎一; 武村 史朗

doi:10.1299/jsmermd.2019.2A2-H09

2019

Session ID : 2A2-H09

DOI https://doi.org/10.1299/jsmermd.2019.2A2-H09

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 05, 2019 - June 08, 2019

Experiments of position and force control for 3-link dual-arm underwater robot using resolved acceleration control method for UVMS

– Case of gripping a fixed object with one hand –

*Takayuki KAWAGUCHI, Shingo YAMAMOTO, Yutaka SEKI, Shinichi SAGARA, Fumiaki TAKEMURA

Author information

Keywords: Underwator Robot, Manipulator, Position control, Impedance control

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Abstract

We have proposed a method of a Resolved Acceleration Control (RAC) for Underwater Vehicle-Manipulator Systems (UVMS) which is a position control method and a position-based impedance control method with the RAC for UVMS. In this paper, we show the usefulness of the proposed control methods by an experiment using a 3-link dual arm underwater robot that grip a fixed underwater object.

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