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

In this paper, we derive a dynamical model for a manta robot by taking account of a pectoRAL-fin propulsion mechanisms. 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 bo...

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Main Authors: Ikeda, Masaaki, Hikasa, S, Watanabe, K, Nagai, I
Format: Conference or Workshop Item
Language:English
Published: 2015
Subjects:
T Technology (General)
T201 Patents. Trademarks
Online Access:http://eprints.unisza.edu.my/538/1/FH03-FRIT-16-05640.jpg
http://eprints.unisza.edu.my/538/
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spelling my-unisza-ir.5382020-10-25T03:17:52Z http://eprints.unisza.edu.my/538/ The derivation of a dynamical model for a manta robot and its control Ikeda, Masaaki Hikasa, S Watanabe, K Nagai, I T Technology (General) T201 Patents. Trademarks In this paper, we derive a dynamical model for a manta robot by taking account of a pectoRAL-fin propulsion mechanisms. 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 effectivesness of the dynamical model is verified by comparing the simulation results based on the model with the measurement values using an actual robot. 2015 Conference or Workshop Item NonPeerReviewed image en http://eprints.unisza.edu.my/538/1/FH03-FRIT-16-05640.jpg Ikeda, Masaaki and Hikasa, S and Watanabe, K and Nagai, I (2015) The derivation of a dynamical model for a manta robot and its control. In: 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, 28-30 July 2015, Hangzhou; China.
institution Universiti Sultan Zainal Abidin
building UNISZA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Sultan Zainal Abidin
content_source UNISZA Institutional Repository
url_provider https://eprints.unisza.edu.my/
language English
topic T Technology (General)
T201 Patents. Trademarks
spellingShingle T Technology (General)
T201 Patents. Trademarks
Ikeda, Masaaki
Hikasa, S
Watanabe, K
Nagai, I
The derivation of a dynamical model for a manta robot and its control
description In this paper, we derive a dynamical model for a manta robot by taking account of a pectoRAL-fin propulsion mechanisms. 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 effectivesness of the dynamical model is verified by comparing the simulation results based on the model with the measurement values using an actual robot.
format Conference or Workshop Item
author Ikeda, Masaaki
Hikasa, S
Watanabe, K
Nagai, I
author_facet Ikeda, Masaaki
Hikasa, S
Watanabe, K
Nagai, I
author_sort Ikeda, Masaaki
title The derivation of a dynamical model for a manta robot and its control
title_short The derivation of a dynamical model for a manta robot and its control
title_full The derivation of a dynamical model for a manta robot and its control
title_fullStr The derivation of a dynamical model for a manta robot and its control
title_full_unstemmed The derivation of a dynamical model for a manta robot and its control
title_sort derivation of a dynamical model for a manta robot and its control
publishDate 2015
url http://eprints.unisza.edu.my/538/1/FH03-FRIT-16-05640.jpg
http://eprints.unisza.edu.my/538/
_version_ 1683234894133592064
score 13.187197

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