Title :
Passive and active attitude stabilization method for the spherical underwater robot (SUR-II)
Author :
Chunfeng Yue ; Shuxiang Guo ; Maoxun Li ; Yaxin Li
Author_Institution :
Grad. Sch. of Eng., Kagawa Univ., Takamatsu, Japan
Abstract :
This paper introduces the passive and active attitude stabilization control for a spherical underwater robot (SUR-II). Due to the special structure of the robot, we involve passive attitude stabilization method both in pitch and roll directions. We adjust the distance between the center of buoyancy and the center of gravity to generate restoring moment. The restoring moment is used to realize passive attitude stabilization in pitch and roll directions. But for the yaw direction, because the robot is centrosymmetric and the water resistance is small and there is no restoring moment, active attitude stabilization control is necessary. For the active attitude stabilization, we employ Rotation Vector algorithm to instead Euler angle algorithm. The Euler angle algorithm decomposed the rotation motion into 3 orderly rotational motions in pitch, roll, yaw direction respectively. But the Rotation Vector algorithm can describe the rotation motion of the spherical underwater robot just in one time. It is very convenient to control the rotational motion. Finally, we carry out a stabilization experiment to verify the active attitude stability in yaw direction. The experimental results show that the robot can realize attitude stabilizaiton in a short time.
Keywords :
attitude control; autonomous underwater vehicles; buoyancy; hydrodynamics; motion control; robot dynamics; stability; vectors; Euler angle algorithm; SUR-II; active attitude stability; active attitude stabilization control; center of buoyancy; center of gravity; centrosymmetric robot; passive attitude stabilization control; pitch direction; roll direction; rotation vector algorithm; rotational motion control; spherical underwater robot; water resistance; yaw direction; Automation; Conferences; Mechatronics; Propulsion; Robot kinematics; Underwater vehicles; Passive and active attitude stabilization; Rotation Vector; Spherical Underwater Robot;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739597