Fish-Tail Modeling for Fish Robot

Derivation of the mathematical model for a robot fish considering forward motion and yaw angle kinematics is presented. This model also includes details of the hydrodynamic force by considering the condition of fish swimming underwater. The nonlinear dynamical model in Carangi form locomotion type is derived by use of Lagrange´s equation, which concerning about 4 links of fish robot equivalent model similar to the 4-link planar robot manipulator. Computer simulations conduct both in terms of open-loop response and animation motion of the fish robot swimming. These results indicate feasibility of the model for the robot with swimming speed 0.48 m/s and yaw swing angle ±12 degree. The model derived will be served as a basis for further investigation of control design for the complicated object.