Open AccessNumerical and Experimental Analysis of Portable Underwater Robots with a Movable Float Device
Author(s) -
Norimitsu Sakagami,
Masaaki Shibata,
Tomohiro Ueda,
Kensei Ishizu,
Kenshiro Yokoi,
Sadao Kawamura,
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Publication year - 2021
Publication title -
journal of robotics and mechatronics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.257
H-Index - 19
eISSN - 1883-8049
pISSN - 0915-3942
DOI - 10.20965/jrm.2021.p1234
Subject(s) - payload (computing) , float (project management) , underwater , robot , controller (irrigation) , simulation , control theory (sociology) , computer science , range (aeronautics) , center of gravity , engineering , marine engineering , aerospace engineering , control (management) , artificial intelligence , geology , computer network , agronomy , oceanography , management , network packet , economics , biology
This report describes a numerical and experimental study of a posture control device based on a movable float for portable underwater robots. We numerically analyzed the static stability using a stability curve and allowable spatial range of a center-of-gravity shift caused by a payload shift or manipulator configuration. Further, we proposed a feedback controller based on direct pitch and roll signals to change and maintain robot posture. We tested the feedback control using a numerical simulator and conducted experiments in a water tank using two portable underwater robots to demonstrate the effectiveness of the movable float device and proposed controller. The results of the field experiments showed that the device and proposed controller can be employed for effective underwater operations of portable underwater robots.