| 압력센서를 이용한 수중항만공사 로봇의 실린더 변위 추정에 관한 연구 |
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김치효, 김태성, 이민기 |
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| Study on the estimation of the cylinder displacement of an underwater robot for harbor construction using a pressure sensor |
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Chi-Hyo Kim, Tae-Sung Kim, Min-Ki Lee |
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| Abstract |
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This paper presents an observer to estimate the displacement of hydraulic cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a displacement sensors to control the position of hydraulic cylinders. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer estimates the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones. |
| Key Words:
pressure sensor;underwater robot;hydraulic cylinder;harbor construction;observer |
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