The derivation of a dynamical model for a manta robot and its control

Ikeda, Masaaki and Hikasa, S and Watanabe, K and Nagai, I (2015) The derivation of a dynamical model for a manta robot and its control. In: 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, 28-30 July 2015, Hangzhou; China.

[img] Image
FH03-FRIT-16-05640.jpg
Restricted to Registered users only

Download (164kB)

Abstract

In this paper, we derive a dynamical model for a manta robot by taking account of a pectoRAL-fin propulsion mechanisms. 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 effectivesness of the dynamical model is verified by comparing the simulation results based on the model with the measurement values using an actual robot.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > T Technology (General)
T Technology > T Technology (General) > T201 Patents. Trademarks
Divisions: Faculty of Innovative Design & Technology
Depositing User: Muhammad Akmal Azhar
Date Deposited: 25 Oct 2020 03:17
Last Modified: 25 Oct 2020 03:17
URI: http://eprints.unisza.edu.my/id/eprint/538

Actions (login required)

View Item View Item