• DocumentCode
    3665100
  • Title

    The derivation of a dynamical model for a manta robot and its control

  • Author

    Masaaki Ikeda;Shigeki Hikasa;Keigo Watanabe;Isaku Nagai

  • Author_Institution
    Faculty of Design Arts and Engineering Technology, Universiti Sultan Zainal Abidin (UniSZA), Terengganu, Malaysia
  • fYear
    2015
  • fDate
    7/1/2015 12:00:00 AM
  • Firstpage
    1136
  • Lastpage
    1139
  • Abstract
    In this paper, we derive a dynamical model for a manta robot by taking account of a pectoral-fin propulsion mechanism. Especially, the model is derived by considering the force generated from such a specialized propulsion mechanism, together with estimating added masses and moment due to a cubic body form used in this research. The effectiveness of the dynamical model is verified by comparing the simulation results based on the model with the measurement values using an actual robot.
  • Keywords
    "Robot kinematics","Force","Propulsion","Mathematical model","Servomotors","Numerical models"
  • Publisher
    ieee
  • Conference_Titel
    Society of Instrument and Control Engineers of Japan (SICE), 2015 54th Annual Conference of the
  • Type

    conf

  • DOI
    10.1109/SICE.2015.7285535
  • Filename
    7285535
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3665100