Modeling and Simulation of an Underwater Planar Eel Robot in Non-inertial Frame
文献类型:会议论文
作者 | Wang YC(王越超)1; Ma SG(马书根)1,2; Wang MH(王明辉)1; Li B(李斌)1; Zhang AF(张安翻)1 |
出版日期 | 2017 |
会议日期 | July 31 - August 4, 2017 |
会议地点 | Hawaii, USA |
页码 | 840-845 |
英文摘要 | The obtained dynamic equations in inertial frame are highly coupled and fully nonlinear, thus those are not conductive to controller design. Inspired by Autonomous Underwater Vehicle(AUV) modeling in non-inertia frame, this paper defines the non-inertial frame that is always aligned with the eel robot. The kinematic model is derived by using Coriolis' theorem. By using improved Newton's second law and the principle of moment balance, the dynamic equations are derived, in which the hydrodynamic forces and torques take into account current effects, nonlinear drag forces, added mass forces and fluid torque effects. The established dynamic model is analytical and can be utilized in modern model-based control schemes, regardless of the number of modules. Compared with the existed model, the model established in this paper obtains the tangential velocity sub-dynamics directly and achieves the purpose of simplifying the model by the orientation angle parameter decoupling. In order to verify the accuracy of the proposed model, simulations of a eel robot with nine links are presented. Simulation results indicate the proposed model fits well with the proposed model. |
源文献作者 | IEEE Robotics and Automation Society |
产权排序 | 1 |
会议录 | 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 |
会议录出版者 | IEEE |
会议录出版地 | New York |
语种 | 英语 |
ISBN号 | 978-1-5386-0489-2 |
WOS记录号 | WOS:000447628700153 |
源URL | [http://ir.sia.cn/handle/173321/22846] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Zhang AF(张安翻) |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; Department of Robotics, Ritsumeikan University, Shiga-ken; 525-8577, Japan; 2.University of Chinese Academy of Sciences, Beijing 100049, China |
推荐引用方式 GB/T 7714 | Wang YC,Ma SG,Wang MH,et al. Modeling and Simulation of an Underwater Planar Eel Robot in Non-inertial Frame[C]. 见:. Hawaii, USA. July 31 - August 4, 2017. |
入库方式: OAI收割
来源:沈阳自动化研究所
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