130 0

Disturbance compensation of a dual-arm underwater robot via redundant parallel mechanism theory

Title
Disturbance compensation of a dual-arm underwater robot via redundant parallel mechanism theory
Author
서태원
Keywords
Disturbance compensation; Dual-arm robot; Redundant parallel mechanism; Null space approach; Task priority
Issue Date
2017-05
Publisher
SPRINGER
Citation
MECCANICA, v. 52, no. 7, page. 1711-1719
Abstract
Disturbance compensation is one of the major issues for underwater robots to hover as a mobile platform and to manipulate an object in an underwater environment. This paper presents a new strategy of disturbance compensation for a mobile dual-arm underwater robot using internal torques derived from redundant parallel mechanism theory. A model of the robot was analyzed by redundant serial and parallel mechanisms at the same time. The joint torque to operate the robot is obtained from a redundant serial mechanism model with -space projection due to redundancy. The joint torque derived from the redundant parallel kinematic model is calculated to perfectly compensate for disturbances to the mobile platform and is included in the solution of the joint torque based on the serial redundant model. The resultant joint torque can generate force on the end-effector for required tasks and forces for disturbance compensation simultaneously . A simulation shows the performance of this disturbance compensation strategy. The joint torque based on the algorithm generates the desired task force and the disturbance compensation force together, and a little additional joint torque can generate a large internal force effectively due to the characteristics of a redundant parallel mechanism. The proposed method is more effective than compensation methods using thrusting force on the mobile platform.
URI
https://link.springer.com/article/10.1007%2Fs11012-016-0505-0https://repository.hanyang.ac.kr/handle/20.500.11754/114207
ISSN
0025-6455; 1572-9648
DOI
10.1007/s11012-016-0505-0
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE