The Eyeball ROV: Design and Control of a Spherical Underwater Vehicle Steered by an Internal Eccentric Mass

摘要：

A Remotely Operated Vehicle (ROV) is developed for use in the inspection of underwater structures in hazardous environments. The vehicle presented can change orientation like an eyeball using a novel gimbal mechanism for moving an internal eccentric mass. Combined with a pair of thrusters, the Eyeball ROV can move in any direction with non-holonomic constraints. In this paper the design concept is presented first, followed by dynamic and hydrodynamic analysis. Due to poor open loop stability characteristics, stability augmentation is implemented using onboard sensors and was designed and tested in simulation. A physical proof-of-concept prototype is also presented.

作者: Ian C. Rust H. Harry Asada

作者单位: Department of Mechanical Engineering at MIT,Camrbridge,MA 02139 USA Department of Mechanical Engineering at MIT,Cambridge,MA 02139 USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5855-5862

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）