Title :
Modelling and control of a marine robot arm
Author :
Liceaga-C, E. ; Qiao, Hong ; Liceaga-Castro, J.
Author_Institution :
Ind. Control Unit., Strathclyde Univ., Glasgow, UK
Abstract :
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
Keywords :
hydrodynamics; manipulators; marine systems; nonlinear control systems; variable structure systems; dynamics; hydrodynamic effects; marine robot arm; modelling; motion equation; nonlinear variable structure system; virtual mass mechanism; Aerodynamics; Drag; Equations; Fluid dynamics; Force control; Hydrodynamics; Industrial control; Industrial electronics; Nonlinear dynamical systems; Nonlinear equations; Robots; Robustness; Service robots; Solids; Variable structure systems;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261400
