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Lagrangian dynamic modeling of wave-driven unmanned surface vehicle in three dimensions based on the D-H approach
Tian BQ(田宝强); Yu JC(俞建成)
Department水下机器人研究室
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1253-1258
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187701
WOS IDWOS:000380502300230
Contribution Rank1
ISSN2379-7711
ISBN978-1-4799-8730-6
KeywordWave-driven Unmanned Surface Vehicle D-h Approach Lagrangian Mechanics Dynamic Analysis
AbstractWave-driven unmanned surface vehicle (WUSV) is a new concept marine robot drived by wave energy and solar energy, very suitable for the observing vast oceans with incomparable endurance. Firstly, the multibody system of WUSV is described based on D-H approach and the velocity and position of each moving part in WUSV are represented. Then, the driving principle is analyzed and the WUSV dynamic model in three dimension is established by Lagrangian mechanics. Finally, we perform the motion simulation of WUSV under certain sea conditions. These tasks provide the theoretical foundation for further study on the WUSV motion control and efficiency analysis.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17500
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Tian BQ,Yu JC. Lagrangian dynamic modeling of wave-driven unmanned surface vehicle in three dimensions based on the D-H approach[C]. Piscataway, NJ, USA:IEEE,2015:1253-1258.
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