Underwater Robot Vertical Manipulator Control

Author

Yuyi, Zhai ; Weihua, Chen ; Haibing, Tang ; Zhengbang, Gong

Author_Institution

Sch. of Mechatron. Eng. & Autom., Shanghai Univ.

fYear

2005

fDate

27-29 June 2005

Firstpage

1

Lastpage

5

Abstract

The authors designed an underwater robot based on spatial mathematical models. The paper deduces the concerning simulation models and simplifies them. Calibrate the system by digital PID controller after analyzing the state of holistic performance. Besides, analyze setting methods of PID parameters and the impacts on system performance in detail. Finally, simulate the system by Simulink models furnished by Matlab6.5 and attain the simulation results with referenced values

Keywords

control system analysis; digital control; manipulators; three-term control; underwater vehicles; Matlab6.5; PID parameters; Simulink models; digital PID controller; spatial mathematical models; underwater robot; vertical manipulator control; Computer languages; Control system analysis; Control systems; Digital control; Manipulators; Mathematical model; Performance analysis; Robot control; System performance; Three-term control; Manipulator control; Simulation model; Underwater robot; controller;

fLanguage

English

Publisher

ieee

Conference_Titel

High Density Microsystem Design and Packaging and Component Failure Analysis, 2005 Conference on

Conference_Location

Shanghai

Print_ISBN

0-7803-9292-2

Electronic_ISBN

0-7803-9293-0

Type

conf

DOI

10.1109/HDP.2005.251436

Filename

4017477