Study on Control Algorithm of Tail Fin flaping of Robofish

Flipping control of the tail fin with two degrees, which is drived by two DC servo motors, is a problem of motion control in the condition of high speed and heavy load. lt demands that there be no distortion of transformation of speed and position synchronously. Based on the SPC-III robot fish, a math model used for flipping control is deduced according to the rule of tail fin flipping. In terms of the control of main joint, the algorithm, which computes the rotational speed according to its swaying angle and adds compensative speed combining the relation of its swaying angle and time variable, is put forward. In terms of the control of assistant joint, the following algorithm, which computes the target swaying angle of assistant joint according to the relation of the two joints´ swaying angle position and the cycle period of the program, is put forward. The implementation of high-frequency flipping is discussed. During the experimentation, the following performance of tail fin flipping is validated.