碩士 / 國立臺北科技大學 / 機電整合研究所 / 99 / This study is aimed at developing an underwater mobile robot consisting of a six-degree-of-freedom robot arm and a tracked-type mobile platform for the robot to execute pick-and-place tasks on the seabed. This robot arm uses a joint design with worm-gear sets having the self-locking function to overcome pressure and ocean current effects while the robot moves on the seabed. The tracked-type mobile platform uses tracked wheels actuated by AC servomotors for the robot to be able to overcome obstacles and move smoothly on the uneven seabed. Conditions around the robot and the obstacles located at the front and rear sides of the robot can be monitored using several CCD cameras that are installed on the rigid frame of the mobile platform. A human-machine interface system is further developed to remotely control the underwater mobile robot and to display the monitoring data obtained from CCD cameras and other sensors such as the electric compass and the gyroscope installed on the robot. The six-degree-of-freedom robot arm can move smoothly and efficiently in an undersea environment through the application of a synchronization motion control method developed in this study. The developed synchronization motion control method involves a detailed kinematic analysis, which includes the forward and inverse kinematics and the corresponding Jacobian of the robot arm; as a result, the robot arm can be controlled remotely to demonstrate feasible configurations and to correctly approach the target object to be picked up. Several pick-and-place experiments and remote-control experiments are carried out using the developed underwater mobile robot. The experimental results demonstrate the feasibility of operating the robot in undersea environments.
| Identifer | oai:union.ndltd.org:TW/099TIT05651078 |
| Date | January 2011 |
| Creators | Yung-Tseng Chang, 張永增 |
| Contributors | Syh-Shiuh Yeh, 葉賜旭 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 53 |
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