Proposed is a control method of an underwater robot equipped with a multi-degree-of-freedom robot arm according to an exemplary embodiment, including: a) step 1-1th of obtaining a propulsive force prediction value by predicting a propulsive force of the underwater robot based on an artificial neural network and configuring a sensorless propulsion controller equipped with a propulsion system to control a speed of the underwater robot; and b) step 1-2th of configuring a underwater robot manipulator (URM) controller that obtains a torque prediction value by predicting an output torque of an actuator constituting the multi-degree-of-freedom robot arm provided in the underwater robot based on the artificial neural network.
CONTROL METHOD OF UNDERWATER ROBOT EQUIPPED WITH A MULTI-DEGREE-OF-FREEDOM ROBOT ARM
2025-02-06
Patent
Electronic Resource
English
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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