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Experimental Study on Propulsion Characteristic of Autonomous Intervention ROV

자율작업용 원격운용잠수정의 추진 특성에 관한 실험 연구

  • Yeu, Taekyeong (Marine ICT Research Division, Korea Research Institute of Ships and Ocean Engineering(KRISO)) ;
  • Lee, Yoongeon (Marine ICT Research Division, Korea Research Institute of Ships and Ocean Engineering(KRISO)) ;
  • Chae, Junbo (Marine ICT Research Division, Korea Research Institute of Ships and Ocean Engineering(KRISO)) ;
  • Yoon, Sukmin (Marine ICT Research Division, Korea Research Institute of Ships and Ocean Engineering(KRISO)) ;
  • Lee, Yeongjun (Marine ICT Research Division, Korea Research Institute of Ships and Ocean Engineering(KRISO))
  • 여태경 (선박해양플랜트연구소 해양ICT연구본부) ;
  • 이윤건 (선박해양플랜트연구소 해양ICT연구본부) ;
  • 채준보 (선박해양플랜트연구소 해양ICT연구본부) ;
  • 윤석민 (선박해양플랜트연구소 해양ICT연구본부) ;
  • 이영준 (선박해양플랜트연구소 해양ICT연구본부)
  • Received : 2019.07.30
  • Accepted : 2019.10.16
  • Published : 2019.10.31

Abstract

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

Keywords

Remotely operated vehicle(ROV);Autonomous intervention;Thrusting force;Propulsion force;Underwater manipulator

Acknowledgement

Grant : 수중 자율작업을 위한 3차원 물체인식 및 로봇-로봇팔 운동보상제어 기반기술 개발

Supported by : 선박해양플랜트연구소