Title :
Underwater Robot Vertical Manipulator Control
Author :
Yuyi, Zhai ; Weihua, Chen ; Haibing, Tang ; Zhengbang, Gong
Author_Institution :
Sch. of Mechatron. Eng. & Autom., Shanghai Univ.
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;
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
DOI :
10.1109/HDP.2005.251436
