Conception, development and advances in the navigation control of underwater parallel robots: The REMO-I robot

Abstract:

The REMO I is an underwater vehicle remotely operated (ROV). The main part of the robot is a parallel structure based on the Stewart - Gough platform. It allows to change its geometry to perform maneuvers with great flexibility of navigation and change the orientation and displacement using a single thruster on the back. Therefore, the robot can perform complex trajectories to reach place hidden in the water. This paper presents a brief description of the REMO-I mechanics, its control and instrumentation system. In addition the control architecture developed for the navigation and experimental are detailed. © 2009 CEA.

Año de publicación:

2009

Keywords:

• UAV
• Stewart-Gough platforms
• Submarine robots
• Submarine rovers
• Parallel structure
• ROV

Fuente:

scopus