水中におけるワイヤ動力学を考慮した水中パラレルワイヤ駆動システムのモデル化

抄録

The typical control of a cable-driven parallel system is based on the assumption that the cable restraining the suspended object is straight. However, in an underwater cable-driven parallel system such as the one considered in this study, the suspended object and the cable are affected by the fluid. This causes deflection and vibration of the cable, which makes it difficult to control the position and attitude of the suspended object. In this paper, we propose a mathematical model of an underwater cable-driven parallel system consisting of multiple on-water robots that take into account the dynamics of the wires affected by the fluid.