Abstract
In this paper, we derive a dynamical model for a manta robot by taking account of a pectoral-fin propulsion mechanism. Especially, the model is derived by considering the force generated from such a specialized propulsion mechanism, together with estimating added masses and moment due to a cubic body form used in this research. The effectiveness of the dynamical model is verified by comparing the simulation results based on the model with the measurement values using an actual robot.
| Original language | English |
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| Title of host publication | 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1136-1139 |
| Number of pages | 4 |
| ISBN (Print) | 9784907764487 |
| DOIs | |
| Publication status | Published - Sept 30 2015 |
| Event | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China Duration: Jul 28 2015 → Jul 30 2015 |
Other
| Other | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |
|---|---|
| Country/Territory | China |
| City | Hangzhou |
| Period | 7/28/15 → 7/30/15 |
Keywords
- Dynamical Model
- Pectoral-fin Propulsion Mechanism
- Underwater Robot
ASJC Scopus subject areas
- Control and Systems Engineering