日本機械学会論文集
Online ISSN : 2187-9761
機械力学,計測,自動制御,ロボティクス,メカトロニクス
水中自動充電を目指したビジュアルサーボ型水中ロボットの自動嵌合制御
矢納 陽大西 祥太石山 新太郎見浪 護
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2015 年 81 巻 832 号 p. 15-00391

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A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose.

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© 2015 一般社団法人日本機械学会
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