Development of Robot Platform for Autonomous Underwater Intervention
| Autor: | Tae Hee Lee, Tae-Kyeong Yeu, Seong Soon Kim, Sanghyun Park, Yeongjun Lee, Hyun Taek Choi, Junbo Chae, Yoongeon Lee |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Computer science
Underwater robot lcsh:Ocean engineering Autonomous intervention 020101 civil engineering Structural analysis 02 engineering and technology ROS(Robot operating system) 01 natural sciences 7-function manipulator 010305 fluids & plasmas 0201 civil engineering Human–computer interaction Intervention (counseling) 0103 physical sciences lcsh:TC1501-1800 Robot Underwater |
| Zdroj: | 한국해양공학회지, Vol 33, Iss 2, Pp 168-177 (2019) |
| ISSN: | 2287-6715 1225-0767 |
| Popis: | KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed. |
| Databáze: | OpenAIRE |
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