Design and development of an attitude control system for a human-sized ROV

Author

Sakagami, Norimitsu ; Kanayama, Takafumi ; Ueda, Tomohiro ; Hashizume, Hideki ; Shibata, Mizuho ; Onishi, Hiroyuki ; Murakami, Shigeo ; Kawamura, Sadao

Author_Institution

Dept. of Naval Archit. & Ocean Eng., Tokai Univ., Shizuoka, Japan

fYear

2010

fDate

7-10 Dec. 2010

Firstpage

2141

Lastpage

2146

Abstract

In this paper, we present the design and development of an attitude control system for a human-sized ROV (Remotely Operated Vehicle) with a dual-manipulator system. The main operations of the ROV are sampling operations for biological researches, geological researches and archaeological explorations in Lake Biwa, the biggest lake in Japan. In order to achieve these operations, we propose an attitude control system and explain the availability of the proposed system in this paper. For the design of the attitude control system, simulation analysis was conducted. Based on the analysis, a pitch angle control system was designed and developed as the prototype of the attitude control system. An experiment was conducted in a test tank to demonstrate the effectiveness of the proposed system. The result shows that the developed system is useful for pitch angle control of the ROV.

Keywords

attitude control; manipulators; mobile robots; remotely operated vehicles; underwater vehicles; Lake Biwa operations; attitude control system; dual-manipulator system; human-sized remotely operated vehicle; pitch angle control system; Attitude control; Gears; Gravity; Joints; Lakes; Manipulators; Vehicles; ROV; attitude control system; manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-7814-9

Type

conf

DOI

10.1109/ICARCV.2010.5707896

Filename

5707896