浮遊型３リンク水中ロボットの位置制御ベースインピーダンス制御実験

溝口 竜馬; 山崎 大雅; 花澤 雄太; 相良 慎一; 平 雄一郎

doi:10.1299/jsmermd.2021.1A1-B05

2021

Session ID : 1A1-B05

DOI https://doi.org/10.1299/jsmermd.2021.1A1-B05

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 06, 2021 - June 08, 2021

Experiments of position based impedance control of a 3-link underwater robot

*Ryouma MIZOGUCHI, Taiga YAMASAKI, Yuta HANAZAWA, Shinichi SAGARA, Yuichiro TAIRA

Author information

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

CONFERENCE PROCEEDINGS RESTRICTED ACCESS

Details

Abstract

Since Underwater Vehicle-Manipulator Systems (UVMS) are expected to play an important role in futre ocean development, we have proposed position and force control methods 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.

Corresponding author

Register with J-STAGE for free!