• 한국산학기술학회논문지
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• 제17권10호
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• pp.678-684
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• 2016

수중사석고르기 장비와 같은 착저형 수중장비를 활용하여 해저면에서 수중 작업을 수행할 경우 해당 장비는 작업경계면을 정확히 인식하고 작업장 내에 자리잡고 있는 것이 중요하다. 이는 장비 전복과 같이 장비 안전사고와 직결될 수 있기 때문이다. 이 때 작업경계면 표식을 위해서는 잠수부의 도움이 필수적인데, 이를 위하여 잠수부가 수중작업을 수행할 때 작업이 용이하면서도 시중에서 쉽게 구할 수 있으며 재료를 선정하는 것이 중요한데 나일론줄을 해저면에 설치하여 작업경계를 표시하도록 하였다. 수중에서 주변 환경을 관찰하기 위하여 소나와 팬틸트를 이용하여 소나시스템을 구성하였으며 이를 이용하여 거리변화에 따른 수중 작업경계면 탐지 여부를 확인하였다. 또한 수중사석고르기 장비에 최종적으로 소나시스템을 설치하고 나일론줄로 표시된 작업경계면에 대한 탐지여부를 검증하였다. 본 연구결과를 활용하여 착저형 수중장비를 이용한 수중작업 시 작업경계면 인식을 수행할 수 있는 방안을 확보하였다. 작업경계면 인식 방안을 활용할 경우 추후에 개발될 수 있는 다양한 종류의 착저형 수중작업 장비의 작업절차에 광범위하게 적용할 수 있을 것으로 판단된다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.