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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
作者部门机器人学研究室
会议名称7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
会议日期July 31 - August 4, 2017
会议地点Hawaii, USA
会议主办者IEEE Robotics and Automation Society
会议录名称2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者IEEE
出版地New York
2017
页码840-845
收录类别EI ; CPCI(ISTP)
EI收录号20183905873709
WOS记录号WOS:000447628700153
产权排序1
ISBN号978-1-5386-0489-2
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.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22846
专题机器人学研究室
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
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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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