Title :
Design of a CMG for underwater robots
Author :
Yime, Eugenio ; Moreno, Héctor ; Saltarén, Roque ; Aracil, Rafael
Author_Institution :
Dept. of Mech. & Mechatron. Eng., Univ. Tecnol. de Bolivar, Cartagena de Indias, Colombia
Abstract :
In this paper we present a Control Moment Gyroscope (CMG) for underwater robots. This is a single gimbal CMG with pyramid type configuration. This device has a modular design and is self-contained (i.e., all mechanical and electrical parts are contained in the CMG´s hull.) The mechanical, electrical and electronic components of the CMG are described, and two experimental test are carry out to demonstrate the system functionality.
Keywords :
gyroscopes; mobile robots; CMG; control moment gyroscope; electronic component; system functionality; underwater robot; Angular velocity; Electronic components; Gyroscopes; Noise; Quaternions; Robots; Torque;
Conference_Titel :
OCEANS, 2011 IEEE - Spain
Conference_Location :
Santander
Print_ISBN :
978-1-4577-0086-6
DOI :
10.1109/Oceans-Spain.2011.6003401
