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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Institution:	Universiti Sultan Zainal Abidin
Language:	English

id	my-unisza-ir.538
record_format	eprints
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

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

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