Development of Motion Sensory Systems for Estimating the Motion States and the Control of an Underwater Operation System (II)

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Project title

Code/計畫編號

NSC93-2611-E019-005

Translated Name/計畫中文名

水下感測元件及系統之研發應用於水下作業---子計畫四：運動感測系統之研發用於水下作業系統之運動狀態估測與控制(II)

Project Coordinator/計畫主持人

Chen-Chou Lin

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Department of Mechanical and Mechatronic Engineering

Website

https://www.grb.gov.tw/search/planDetail?id=1032090

Year

2004

Start date/計畫起

01-08-2004

Expected Completion/計畫迄

01-07-2005

Bugetid/研究經費

830千元

ResearchField/研究領域

土木水利工程

本成果報告為整合型計畫之子計畫五第二年的期中研究成果。子計畫之總目標為研發運動感測系統用於量測與估算水下作業系統運動狀態之相關技術，並發展以感測器為基礎之水下作業系統運動控制器。本年的目標為結合模糊控制器與自製之防水角度感測器，使水下機械臂之定位更加精確，並縮短運算之時間。本研究運用 D-H 參數座標以逆向運動學求解水下機械臂接頭位移量，再以模糊控制法則，結合旋轉電位計回授之電壓值（角位移）來達到精確定位。本年度採用的機械手臂為商用之七軸油壓驅動水下機械臂，僅具有教導盒位置控制之功能，與以往之微步進馬達驅動之機械臂相較，缺少了位置回授之功能。為達到精確定位的目的，我們將教導盒之輸出訊號，改裝為由 PC 控制之輸出訊號，並在每軸加裝自製之防水旋轉電位計以偵測角位移，使機械臂具有位置迴授之功能，並可由 PC 進行運算與控制。手臂的位置控制方式為先由逆向運動學求解出各軸之轉角，再換算成每軸所須驅動之秒數(由於各軸角速度為定值)，待手臂依驅動秒數到達定位後，再與旋轉電位計回授之電壓值比較即可獲得各軸角度誤差量，將各軸角度誤差輸入模糊控制器估測出修正秒數，讓手臂依此秒數驅動手臂進行定位修正。目前持續進行模糊規則庫的更新與校正。The research report contains the preliminary result of the second-year subproject of an integrated project. The main objective is to develop the motion sensory systems for measuring and estimating the motion states of the underwater operation system, and to develop the sensor-based motion controller of the underwater operation system. The topic of this year is application of the fuzzy logic controller and fabrication of the water-proof angle sensor, to achieve higher positioning accuracy, and to reduce response time. In this research we apply the inverse kinematics to solve the joint angles of the underwater manipulator, combining the fuzzy logic controller with the feedback signal (joint displacement) of the rotary potentiometer, in order to achieve accurate positioning. A commercial hydraulically driven, seven-function underwater manipulator is used. The manipulator is controlled by a joy-stick teach box only, which is a drawback comparing with the original one, because of the lack of the position feedback. To rectify the above drawback and achieve higher positioning accuracy, the output signal of the teach box is replaced by the signal controlled by a PC. The water-proof potentiometer is installed at each joint to monitor the joint displacement, enabling the position feedback function. Hence all the computations, sensing, and control algorithm is build in a PC-based architecture. Currently, the of the fuzzy logic rule-base of the control system is under construction.

Keyword(s)

水下作業
運動感測系統
旋轉電位計
模糊控制
定位誤差

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Development of Motion Sensory Systems for Estimating the Motion States and the Control of an Underwater Operation System (II)

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