Title :
Analysis on kinematics of robot fish
Author :
Yun, Dong-Won ; Kyung, Jin-Ho ; Son, Young-Su ; Kim, Soo-Hyun
Author_Institution :
Dept. of Robot. & Intell. Machinery, KIMM, Daejeon, South Korea
Abstract :
This paper presents a numerical analysis for kinematics of robot fish. The fish model in this paper is assumed to act as carangiform motion. The carangiform motion can be modeled as several serial links, and generally robot fish is composed of motors and links. In this research, some analysis has been performed for calculation of kinematics of robot fish. To do this, a geometrical numerical method has been used and a code is made for N-link robot fish kinematics.
Keywords :
mobile robots; motion control; robot kinematics; underwater vehicles; N-link robot fish kinematics; carangiform motion; geometrical numerical method; Equations; Fasteners; Kinematics; Marine animals; Mathematical model; Robot sensing systems; Kinematics; Robot fish;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
