Title :
Modeling of a novel dish type underwater robot
Author :
Ye, Xiufen ; Wang, Tian ; Wang, Lei ; Zhan, Chao
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
This paper presents a novel type underwater robot structure and operation model. The analysis and modeling of this robot are also given. The 6 DOF dynamic model is proposed which is the base of further study of mass control and vector thrust control. At last, the simulation of attitude control by masses is studied to show the effectiveness of this model.
Keywords :
attitude control; mobile robots; DOF dynamic model; attitude control; dish type underwater robot; mass control; vector thrust control; Frequency modulation; Robot kinematics; control; dish type; hydrodynamic derivatives; mass attitude control; underwater robot;
Conference_Titel :
Complex Medical Engineering (CME), 2011 IEEE/ICME International Conference on
Conference_Location :
Harbin Heilongjiang
Print_ISBN :
978-1-4244-9323-4
DOI :
10.1109/ICCME.2011.5876828
