Numerical and Experimental Analysis of Portable Underwater Robots with a Movable Float Device
Norimitsu Sakagami*, Mizuho Shibata**, Tomohiro Ueda***, Kensei Ishizu***, Kenshiro Yokoi***, and Sadao Kawamura***
3-20-1 Orido, Shimizu-ku, Shizuoka, Shizuoka 424-0902, Japan
1-1 Takaya Umenobe, Higashi-hiroshima, Hiroshima 739-2116, Japan
1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan
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.
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