Bookcover of Modeling and Simulation of Underwater Flexible Robot
Booktitle:

Modeling and Simulation of Underwater Flexible Robot

LAP LAMBERT Academic Publishing (2017-03-03 )

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ISBN-13:

978-3-330-05355-7

ISBN-10:
3330053550
EAN:
9783330053557
Book language:
English
Blurb/Shorttext:
Seventy percent of the earth is surrounded by water and there may be lots of raw material still unexplored. A human being cannot dive longer because breathing could be one of the major constraints. For the deep-sea applications like debris removal, pipeline inspection, surveys, telecommunications support, research, maintenance, there must be need of some technology which can venture down without any constraints. Underwater robots technology is the best solution to this because robots do not have to breathe like a human being. But there are problems in case of underwater robots. One of the major problems is trajectory control of the link. Because of dynamic coupling between the base and the link, on which various forces acting on the link and manipulator, the arm deviates from its desired trajectory in the presence of buoyancy forces. This dissertation work presents the dynamic modeling and trajectory control of underwater robot using bond graph, which include the base of the plant, one link arm and the motor. The underwater robot is modeled with the integration of the overwhelming controller. The integrated bond graph model is also made for the complete underwater vehicle. Modelin
Publishing house:
LAP LAMBERT Academic Publishing
Website:
https://www.lap-publishing.com/
By (author) :
Chandan Deep Singh, Sumit Kumar, Sunil Kumar
Number of pages:
56
Published at:
2017-03-03
Stock:
Available
Category:
Mechanical engineering, manufacturing technology
Price:
35.90 €
Keywords:
Dynamic coupling, Bond graph modeling, Dynamic behaviour, Underwater robot.

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