MOTION CONTROL OF UNDERWATER MOBILE ROBOT WITH ANCHOR-ROPE PROPULSION DEVICES

E.S. Briskin
Doctor of Physical and Mathematical Sciences, Volgograd State Technical University (VSTU), Professor, Head of Сhair, 28, Lenin pr., Volgograd, 400005, Russia, tel.: +7(8442)24-81-13, This email address is being protected from spambots. You need JavaScript enabled to view it.

N.G. Sharonov
PhD in Technical Sciences, VSTU, Associate Professor, Senior Research Scientist, 28, Lenin pr., Volgograd, 400005, Russia, tel.: +7(8442)24-80-99, This email address is being protected from spambots. You need JavaScript enabled to view it.

V.A. Serov
PhD in Technical Sciences, JSC «FRPC «Titan - Barrikady», Deputy General Designer for Design, Lenina pr., Volgograd, 400071, Russia, tel.: +7(8442)27-42-55, This email address is being protected from spambots. You need JavaScript enabled to view it.

I.S. Penshin
JSC «FRPC «Titan - Barrikady», Design Engineer, Lenina pr., Volgograd, 400071, Russia, tel.: +7(8442)27-42-55, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 6 March 2018

Abstract
Features of the use of anchor-rope propulsion devices and the principle of their operation have been considered and described. The uniform translational displacement of the underwater robot by means of anchor-rope propulsion device have been investigated. The control of forces in the ropes is shown for a given functional relationship between them. Examples of the determination of the tension forces dependence with an excessive number of nonstationary bonds have been given.
Research was carried out with financial support of The Russian Foundation for Basic Research in the frame of sciettific project no 17-01-00675 a.

Key words
Mobile underwater platform, anchor-rope propulsion device, positive buoyancy.

Bibliographic description
Briskin, E., Sharonov, N., Serov, V. and Penshin, I. (2018). Motion control of underwater mobile robot with anchor-rope propulsion devices. Robotics and Technical Cybernetics, 2(19), pp.39-45.

UDC identifier:
62-5:629.5.034:007.52

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