수중운항로봇 플랫폼의 무게중심 조정을 통한 제어성능 향상

Title
수중운항로봇 플랫폼의 무게중심 조정을 통한 제어성능 향상
Other Titles
Hovering Performance Improvement by Modifying COG of Underwater Robotic Platform
Author(s)
서태원박정애[박정애]김종원[김종원]진상록[진상록]김종원[김종원]
Keywords
Center of gravity (무게 중심); Underwater robot (수중로봇); Control (제어); Measurement (측정)
Issue Date
201507
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.32, no.7, pp.661 - 666
Abstract
This paper presents control performance improvement by modifying center of gravity (COG) of an underwater robotic platform. To reduce the oscillation or to increase the positioning accuracy, it is important to accurately know the COG of an underwater robotic platform. The COG is determined by the three measured tilting angles of the platform in different postures. The tilting angle is measured while the platform is hanged by two strings. Using coordinate transformation, the plane of intersection is defined from the angle of the platform and the position of the string. The COG of the robotic platform is directly calculated by the intersected point in three defined planes. The measured COG is implemented to the control algorithm that is pre-designed in the previous research, and the empirical result on tilting gives 48.26% improved oscillation performance comparing to the oscillation result with the ideal COG position.
URI
http://hdl.handle.net/YU.REPOSITORY/31499http://dx.doi.org/10.7736/KSPE.2015.32.7.661
ISSN
1225-9071
Appears in Collections:
공과대학 > 기계공학부 > Articles
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