CONTROL METHOD OF UNDERWATER ROBOT EQUIPPED WITH A MULTI-DEGREE-OF-FREEDOM ROBOT ARM
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United States of America
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Feb 6, 2025
app pub date -
Jul 16, 2024
filing date -
Jul 16, 2024
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Abstract
Proposed is a control method of an underwater robot equipped with a multi-degree-of-freedom robot arm according to an exemplary embodiment, including: a) step 1-1th of obtaining a propulsive force prediction value by predicting a propulsive force of the underwater robot based on an artificial neural network and configuring a sensorless propulsion controller equipped with a propulsion system to control a speed of the underwater robot; and b) step 1-2th of configuring a underwater robot manipulator (URM) controller that obtains a torque prediction value by predicting an output torque of an actuator constituting the multi-degree-of-freedom robot arm provided in the underwater robot based on the artificial neural network.
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