Title :
A method for simulating the dynamic behavior of underwater robot structures
Author :
Braccesi, Claudio ; Carfagni, Monica ; Citti, Paolo
Author_Institution :
Dipartimento di Energetica, Perugia Univ., Italy
Abstract :
The authors discuss evaluating the dynamic behavior of robot structures in water. A procedure for predicting the structure´s modal parameters in water using its modal parameters in air as a starting point is described and applied. The results, presented for simple structures but fully applicable to more complex ones, show that the problem of the structure-fluid coupling can be solved with limited calculation resources
Keywords :
marine systems; dynamic behavior; modal parameters; structure-fluid coupling; underwater robot structures; Difference equations; Drives; Finite element methods; Fluid dynamics; Manipulator dynamics; Matrices; Payloads; Service robots; Shape control; Underwater structures;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583153
