Sammendrag
Increasing efficiency by improving the locomotion
methods is a key issue for underwater robots. Consequently,
an accurate dynamic model is important for both controller
design and for the development of efficient locomotion methods.
This paper presents a model of the kinematics and dynamics
of an underwater snake robot moving in a vertical plane in
3D. The fluid contact forces (hydrodynamic forces) and torques
(fluid moments) are modeled using analytical fluid dynamics.
Hydrodynamic forces and torques, i.e. linear and nonlinear
drag forces, current effects, added mass and fluid torque
effects, are considered. In addition, this modeling approach
also takes into account the hydrostatic forces (gravitational
forces and buoyancy). The model is given in a closed form and
is thus in a form that is well-suited for modern model-based
control schemes. The proposed model is easily implemented and
simulated, regardless of the number of robot links. Simulation
results for lateral undulation and eel-like motion with a ten
link robotic system are presented.
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