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Modeling and Simulation of an Underwater Planar Eel Robot in Non-inertial Frame
Zhang AF(张安翻)1; Ma SG(马书根)1,2; Li B(李斌)1; Wang MH(王明辉)1; Wang YC(王越超)1
Department机器人学研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages840-845
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873709
WOS IDWOS:000447628700153
Contribution Rank1
ISBN978-1-5386-0489-2
Abstract

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.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22846
Collection机器人学研究室
Corresponding AuthorZhang AF(张安翻)
Affiliation1.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
Recommended Citation
GB/T 7714
Zhang AF,Ma SG,Li B,et al. Modeling and Simulation of an Underwater Planar Eel Robot in Non-inertial Frame[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:840-845.
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