{"title":"The derivation of a dynamical model for a manta robot and its control","authors":"M. Ikeda, S. Hikasa, Keigo Watanabe, I. Nagai","doi":"10.1109/SICE.2015.7285535","DOIUrl":null,"url":null,"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.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"70 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Annual Conference of the Society of Instrument and Control Engineers of Japan","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SICE.2015.7285535","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
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.
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