检索结果-南通市图书馆

Dynamic Model of underwater snake-like robot Using Kane's Method

在线全文

学校读者我要写书评

暂无评论

Journal of Shanghai Jiaotong university(Science) 2014年第2期19卷 146-154页

作者：杨柯王旭阳葛彤吴超 School of Naval Architecture Ocean and Civil Engineering Shanghai Jiaotong University

In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane's dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. The generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces: added mass, profile drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane's method provides a direct approach for incorporating external environmental forces into the model. The dynamic model developed in this paper is obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has physical insight into what forces really influence the system dynamics. The simulation result shows that the proposed method is feasible.

关键词： underwater snake-like robot dynamic model Kane’s dynamic equations hydrodynamic forces

Head Orientation Stability of underwater snake-like robot Swimming

在线全文

学校读者我要写书评

暂无评论

Journal of Harbin Institute of Technology(New Series) 2015年第2期22卷 18-25页

作者： Ke Yang Xuyang Wang Tong Ge Chao Wu School of Naval Architecture Ocean and Civil EngineeringShanghai Jiaotong University

In prior research,the orientation of head of the snake-like robot is changed according to the sinusoidal wave. To solve this problem,we propose Central Pattern Generator( CPG)-based control scheme with head-controller to stabilize the head of the underwater snake-like robot. The advantage of the CPG-based control scheme with head-controller is that the head of the underwater snake-like robot is direct to the target orientation during swimming. The relation between CPG parameters and orientation stability of head is discussed.The adaptation of the proposed method to environment changes is tested. The influences of CPG parameters and hydrodynamic forces on the orientation offset of head are investigated. The target orientation( the input of headcontroller) with an experimental optimization is calculated through a convenient method. To prove the feasibility of the proposed methodology,the different swimming modes have been implemented in our simulation platform.The results show that the oscillation of head's orientation is inhibited effectively,and the proposed method has strong adaptation to environment and CPG parameters changes.

关键词： underwater snake-like robot CPG-based control scheme with head-controller orientation stability of head

Modeling and Control of Head of the underwater snake-like robot Swimming

在线全文

学校读者我要写书评

暂无评论

Journal of Harbin Institute of Technology(New Series) 2014年第1期21卷 77-83页

作者： Ke Yang Xu-Yang Wang Tong Ge Chao Wu School of Naval Architecture Ocean and Civil EngineeringShanghai Jiaotong University

In order to solve oscillation of head of the underwater snake-like robot,the Central Pattern Generator( CPG)-based control scheme with head-controller was presented. The Kane dynamic model was constructed to be processed with a commercial package MotionGenesis Kane 5. 3,to which the proposed control scheme was applied. The relation between CPG parameters and orientation offset of head was investigated. The target orientation of head-controller was calculated through a convenient method. The advantage of this control scheme is that the head of the underwater snake-like robot remains in the forward direction during swimming. To prove the feasibility of the proposed methodology,two basic motion patterns,swimming along the straight line and swimming along the curved path,had been implemented in our simulation platform. The results showed that the simulation platform can imitate the swimming of the underwater snake-like robot and the head of the underwater snake-like robot remains in a fixed orientation directed towards the target. The oscillation of head's orientation is inhibited effectively.

关键词： underwater snake-like robot CPG-based control scheme head-controller MotionGenesis Kane 5.3

Simulation Platform for the underwater snake-like robot Swimming Based on Kane's Dynamic Model and Central Pattern Generator

在线全文

学校读者我要写书评

暂无评论

Journal of Shanghai Jiaotong university(Science) 2014年第3期19卷 294-301页

作者：杨柯王旭阳葛彤吴超 School of Naval Architecture Ocean and Civil Engineering Shanghai Jiaotong University

A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane's dynamic model and central pattern generator(CPG). The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot.

关键词： underwater snake-like robot Kane’s dynamic model swimming central pattern generator(CPG)

Adaptive controller design for underwater snake robot with unmatched uncertainties

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2016年第5期59卷 217-231页

作者： Anfan ZHANG Shugen MA Bin LI Minghui WANG Xian GUO Yuechao WANG State Key Laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Department of robotics Ritsumeikan University

Because of hydrodynamic model error of the present dynamic model, there is a challenge in controller design for the underwater snake-like robot. To tackle this challenge, this paper proposes an adaptive control schemes based on dynamic model for a planar, underwater snake-like robot with model error and time-varying noise. The adaptive control schemes aim to achieve the adaptive control of joint angles tracking and the direction of locomotion control. First, through approximation and reducibility using Taylor expansion method, a simplified dynamics model of a planar amphibious snake-like robot is derived. Then, the L1 adaptive controller based on piecewise constant adaptive law is applied on the simplified planar, underwater snake-like robot, which can deal with both matched and unmatched nonlinear uncertainties. Finally, to control the direction of locomotion, an auxiliary bias signal is used as the control input to regulate the locomotion direction. Simulation results show that this L1 adaptive controller is valid to deal with different uncertainties and achieve the joint angles tracking and fast adaptive at the same time. The modified L1 adaptive controller, in which the auxiliary bias item is added, has the ability to change the direction of locomotion, that is, the orientation angle is periodic with arbitrarily given constant on average.

关键词： underwater snake-like robot adaptive control simplified system piecewise constant law unmatched uncertainties underactuated robots