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Notice of retraction
Vol. 34, No. 8(3), S&M3042

Notice of retraction
Vol. 32, No. 8(2), S&M2292

Print: ISSN 0914-4935
Online: ISSN 2435-0869
Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
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Sensors and Materials, Volume 35, Number 2(1) (2023)
Copyright(C) MYU K.K.
pp. 377-389
S&M3174 Research Paper of Special Issue
https://doi.org/10.18494/SAM4280
Published: February 9, 2023

Development and Simulation of Operational Scenarios for Underwater Cable-driven Parallel Robot [PDF]

Katutoshi Kodama, Akihiro Morinaga, and Ikuo Yamamoto

(Received December 12, 2022; Accepted February 1, 2023)

Keywords: cable-driven, parallel robot, underwater robot, operation scenario, feedback control

A cable-driven parallel robot (CDPR) is a mechanism that controls the position and attitude of an object using multiple cables. We propose an underwater cable-driven parallel robot (UCDPR), which is a CDPR composed of multiple surface robots. A UCDPR is a type of mobile cable-driven parallel robot (MCDPR) that is composed of multiple mobile robots and is an underwater application of MCDPR, which has been used only on land and in the air. We describe the details of the operational scenario of the UCDPR, from landing on the water to executing a task. We also simulated numerically the stabilization phase required after landing on water and the trajectory tracking control phase required for underwater exploration and other tasks. In this numerical simulation, we used a high-gain feedback controller as the trajectory tracking controller to add robustness to the control system. As a result, a trajectory tracking control was realized within a tolerance tracking error range of 10−2 m underwater in the presence of a maximum current velocity of 0.8 m/s (≅ 1.5 knots), which is a control requirement.

Corresponding author: Katutoshi Kodama


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Cite this article
Katutoshi Kodama, Akihiro Morinaga, and Ikuo Yamamoto, Development and Simulation of Operational Scenarios for Underwater Cable-driven Parallel Robot, Sens. Mater., Vol. 35, No. 2, 2023, p. 377-389.



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