带内转子的水生机器人控制简化物理模型的实验评价

2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI:10.1109/NIR50484.2020.9290211

A. Klekovkin, Y. Karavaev, I. Mamaev, E. V. Vetchanin, V. Tenenev

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引用次数: 0

摘要

本文研究了一种无螺旋桨水上机器人的运动。机器人的运动是通过内部转子的旋转来实现的。提出了一个简单的有限维数学模型来描述机器人的运动。进行了沿直线和圆周运动的控制实验。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Experimental evaluation of simplified physical model for control of aquatic robot with internal rotor

This paper is devoted to investigations of the motion of an aquatic propeller-less robot. The robot motion implemented by rotation of internal rotor. A simple finite-dimensional mathematical model to describe the motion of the robot is proposed. Experiments with control actions providing the motion along a straight line and a circle have been conducted.

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2020 International Conference Nonlinearity, Information and Robotics (NIR)

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