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IEEE Conference on Industrial Electronics and Applications

作者： Pichet Suebsaiprom Chun-Liang Lin Bioinformatic Computing and Control Laboratory Department of Electrical Engineering National Chung Hsing University

ISBN: (纸本)9781467363204

Two-DOF barycenter mechanism and its control are proposed. The mechanism by means of the moved balancing masses along two axes changes the center of gravity of fish's body. The projected torques on x and y axes propel pitch and roll angles to the desired values. Merging the pitching and rolling models with fish-tail and rigid-body models, the fish robot motion and maneuverability can be achieved in three dimensions. The 3-D motion has been derived based on three basic behaviors as swimming, orientating, and stabilizing. Lastly, simulation results of the barycenter stabilization system and the robot motion are given and feasibility of the realization is discussed.

关键词： Fish-robot 2-DOF barycenter control Stabilization

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Fish-tail modeling for fish robot

Fish-tail modeling for fish robot

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2012 International Symposium on Computer, Consumer and control, IS3C 2012

作者： Suebsaiprom, Pichet Lin, Chun-Liang Bioinformatic Computing and Control Laboratory Department of Electrical Engineering National Chung Hsing University Taichung Taiwan

ISBN: (纸本)9780769546551

Derivation of the mathematical model for a robot fish considering forward motion and yaw angle kinematics is presented. This model also includes details of the hydrodynamic force by considering the condition of fish swimming underwater. The nonlinear dynamical model in Carangi form locomotion type is derived by use of Lagrange's equation, which concerning about 4 links of fish robot equivalent model similar to the 4-link planar robot manipulator. Computer simulations conduct both in terms of open-loop response and animation motion of the fish robot swimming. These results indicate feasibility of the model for the robot with swimming speed 0.48 m/s and yaw swing angle ±12 degree. The model derived will be served as a basis for further investigation of control design for the complicated object. © 2012 IEEE.

关键词： Hydrodynamics

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Fish-Tail Modeling for Fish Robot

Fish-Tail Modeling for Fish Robot

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International Symposium on Computer, Consumer and control (IS3C)

作者： Pichet Suebsaiprom Chun-Liang Lin Bioinformatic Computing and Control Laboratory Department of Electrical Engineering National Chung Hsing University Taichung Taiwan

关键词： Marine animals Robots Mathematical model Force Computational modeling Hydrodynamics Equations

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Fish robot modeling and simulation: Fish-tail and rigid-body motion

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International Journal of Advancements in computing Technology 2012年第18期4卷 105-114页

作者： Suebsaiprom, Pichet Lin, Chun-Liang Saimek, Saroj Bioinformatic Computing and Control Laboratory Department of Electrical Engineering National Chung Hsing University Taichung Taiwan Department of Mechanical Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

Derivation of the mathematical model for a robot fish considering forward motion and yaw angle kinematics is presented. This model has included details of the hydrodynamic force by considering the condition of fish swimming underwater which wasn't revealed in the previous literature. The nonlinear dynamical model in Carangiform locomotion type is derived by use of Lagrange's equation, which concerning about 4 links of fish robot equivalent model similar to the 4-link planar robot manipulator. Computer simulations have conducted both in terms of dynamic response and animation motion of the fish robot swimming. These results indicate feasibility of the model for the designed robot. The tracking simulation by means of simplify proportional controller reveals the feasibility of path-tracking control for the fish robot while swimming. The model derived can be served as a basis for further investigation of compatible control design for sophisticated objectives.

关键词： Nonlinear equations

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