Dynamics modeling and structural analysis of underwater construction robot

被引：2
|
作者：
Hong, Sung-Min [1 ]
Kang, Hyeon-Seok [1 ]
Shim, Do-Sik [2 ]
Choi, Hyeung-Sik [2 ]
Kim, Joon-Young [2 ]
机构：
[1] Sch Korea Maritime & Ocean Univ, Dept Convergence Study Ocean Sci & Technol, Ocean Sci & Technol, 727 Taejong Ro, Busan 49112, South Korea
[2] Korea Maritime & Ocean Univ, Dept Mech Engn, 727 Taejong Ro, Busan 49112, South Korea
来源：
INTERNATIONAL JOURNAL OF MODERN PHYSICS B | 2018年 / 32卷 / 19期
基金：
新加坡国家研究基金会;
关键词：
Underwater construction robot; mathematical model; LOS method; simulation;
D O I：
10.1142/S0217979218400386
中图分类号：
O59 [应用物理学];
学科分类号：
摘要：
This paper describes the dynamics modeling, structural analysis of UCR. First of all, the system configuration of UCR and structural analysis are introduced. After that, 3-DOF equation of UCR is introduced for an analysis of motion performance through a numerical simulation, and applying the LOS method at the UCR for path following. Finally, the performance of the proposed path tracking method is verified through simulation and experiments using small test platform.
引用
收藏
页数：6
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