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

fYear

1991

fDate

11-13 Dec 1991

Firstpage

704

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Conference_Location

Brighton

Print_ISBN

0-7803-0450-0

Type

conf

DOI

10.1109/CDC.1991.261400

Filename

261400