Mathematical Modelling and Parameter Optimization of a 2-DOF Fish Robot

被引：0

作者：

Masoomi, Sayyed Farideddin ^{[1
]}

Gutschmidt, Stefanie ^{[2
]}

Chen, XiaoQi ^{[2
]}

Sellier, Mathieu ^{[2
]}

机构：

[1] Univ Canterbury, Dept Mech Engn, Mechatron Lab, Canterbury, New Zealand

[2] Univ Canterbury, Dept Engn Mech, Canterbury, New Zealand

来源：

2012 19TH INTERNATIONAL CONFERENCE MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2012年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Considering high efficiency of fish robots, their development to accomplish marine tasks is indispensible. In order to do that initially the robot needs to be mathematically modeled and simulated with respect to its mechanical design. For simulation, the parameters of the mathematical model require optimization. In this paper, a fish robot with two degrees of freedom (DOF) is introduced. After that, the dynamic equations of motion of the robot are presented and discussed. To simulate the robot, the constant parameters of the equations are optimized using Particle Swarm Optimization (PSO) algorithm. Finally, applying both optimized and non-optimized parameters in the simulation, the effect of each parameter on the behaviour of the robot is observed and analyzed.

引用

页码：212 / 217

页数：6

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