Modelling and control of a marine robot arm

CASIA OpenIR > 09年以前成果

	Modelling and control of a marine robot arm
	Liceaga-C., E; Qiao, H; J. Liceaga-Castro
	1991
会议名称	30th IEEE Conference on Decision and Control
会议录名称	Proceedings of the 30th IEEE Conference on Decision and Control (Cat. No.91CH3076-7)
会议日期	11-13 Dec. 1991
会议地点	Brighton, UK
摘要	The 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.
关键词	无
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/12855
专题	09年以前成果
通讯作者	Liceaga-C., E
推荐引用方式 GB/T 7714	Liceaga-C., E,Qiao, H,J. Liceaga-Castro. Modelling and control of a marine robot arm[C],1991.