The purpose of the present invention is to provide a method for controlling an underwater robot equipped with a multi-guided robot arm, capable of precisely controlling the speed of the underwater robot by estimating a propulsion force by predicting the propulsion force of the underwater robot based on an artificial neural network. The method of the present invention comprises the following steps: a) a 1-1 step of predicting a propulsive force of an underwater robot based on an artificial neural network to obtain a propulsive force prediction value, and forming a sensorless propulsive controller having a propulsive system for controlling a speed of the underwater robot; b) a 1-2 step of comprising an URM controller in which the output torque of the actuator comprising the multipoint conduction robot arm equipped based on the artificial neural network in the underwater robot is predicted and getting the torque predictive value; c) a 1-3 step of configuring a navigation system that will estimate the position of said underwater robot by doppler velocity log (DVL) based dead reckoning underwater, and will correct the position of the underwater robot by radio-based (real time kinematic (RTK)) position correction when the underwater robot moves to the surface and a GPS signal from the underwater robot is detected; and d) a second step of configuring a robust attitude controller that will adapt said sensorless propulsion controller, URM controller, and navigation system to internal influences of the underwater robot, including propulsive forces of the underwater robot and output torques of the multi-degree-of-freedom robotic arm, or to influences of the underwater environment and disturbances. The present invention has an effect of precisely controlling the speed of the underwater robot by estimating the propulsive force of the underwater robot based on an artificial neural network.

    본 발명의 일 실시예에 따른 다자유도 로봇팔이 탑재된 수중로봇의 제어방법은, a) 인공 신경망을 기반으로 수중로봇의 추진력을 예측하여 추진력 예측값을 획득하고, 상기 수중로봇의 속도를 제어할 추진 시스템이 구비된 센서리스 추진 제어기를 구성하는 제1-1 단계; b) 인공 신경망을 기반으로 상기 수중로봇에 구비된 다자유도 로봇팔을 구성하는 액추에이터의 출력 토크를 예측하여 토크 예측값을 획득하게 될 URM 제어기를 구성하는 제1-2 단계; c) 수중에서 도플러 속도 센서(Doppler Velocity Log, DVL) 기반의 추측 항법으로 상기 수중로봇의 위치를 추정하며, 상기 수중로봇이 수면으로 이동하여 상기 수중로봇의 GPS 신호가 감지될 때 무선 기반(Real Time Kinematic, RTK)의 위치 보정을 통해 상기 수중 로봇의 위치를 보정하게 될 항법시스템을 구성하는 제1-3 단계; 및 d) 상기 수중로봇의 추진력 및 상기 다자유도 로봇팔의 출력 토크를 포함하는 상기 수중로봇의 내부 영향이나 수중 환경과 외란의 영향으로부터 상기 센서리스 추진 제어기, URM 제어기, 항법시스템을 적응시키게 될 강인 자세 제어기를 구성하는 제2 단계;를 포함할 수 있다.


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    Titel :

    Control method of an underwater robot equipped with a multi-degree-of-freedom robot arm


    Weitere Titelangaben:

    다자유도 로봇팔이 탑재된 수중로봇의 제어방법


    Beteiligte:
    KOOKSUN LEE (Autor:in)

    Erscheinungsdatum :

    02.04.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B25J Manipulatoren , MANIPULATORS



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