Differential Inverse Kinematics of Underwater Robotic Systems with Noise in Position Data

位置情報に雑音が含まれる水中ロボットシステムの微分逆運動学

Differential Inverse Kinematics of Underwater Robotic Systems with Noise in Position Data

Creators Morimoto Eiji

Creators Taira Yuichiro

Creators Nakamura Makoto

This report deals with a control issue of an autonomous underwater robot equipped with a manipulator. In general, the control objective of manipulator is to determine joint torque inputs so that the position of end-effector can follow the desired trajectory. Since most joint torque controllers cannot directly control the end-effector variables, an inverse kinematics algorithm which transforms the desired trajectories of end-effector variables to those of joint variables needs to be used. This report focuses on a differential inverse kinematic algorithm using the Jacobian pseudo inverse. The position of end-effector may be measured by a visual sensor such as camera. It is anticipated that the measured position data includes measurement noise since the measurement is carried out in underwater environment. However, the effect of measurement noise on the control performance of joint torque controller using the differential inverse kinematic algorithm is not analyzed. In this report, a differential inverse kinematic algorithm of underwater robotic system with noise in position data is considered. The effectiveness of the algorithm is demonstrated by numerical simulation.

[ISSN]0370-9361