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Modelling and control of a marine robot arm
Liceaga-C., E; Qiao, H; J. Liceaga-Castro
1991
Conference Name30th IEEE Conference on Decision and Control
Source PublicationProceedings of the 30th IEEE Conference on Decision and Control (Cat. No.91CH3076-7)
Conference Date11-13 Dec. 1991
Conference PlaceBrighton, UK
AbstractThe model of a robot arm intended for underwater tasks is defined. The model presented was obtained by introducing the hydrodynamic effects, which were calculated according to the equation of Morison (in J.F. Wilson, Ed., 1989) in the derivation of the equations of motion. The most important hydrodynamic influence on the arm dynamics is related to the added mass concept, which originates a virtual mass mechanism. This has as a consequence a large increment on the control input. The simulation presented shows that the nonlinear variable structure system is robust with hydrodynamic interaction.
Keyword
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12855
Collection09年以前成果
Corresponding AuthorLiceaga-C., E
Recommended Citation
GB/T 7714
Liceaga-C., E,Qiao, H,J. Liceaga-Castro. Modelling and control of a marine robot arm[C],1991.
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