{"title":"内转子水下机器人的设计与控制","authors":"A. Klekovkin, Y. Karavaev, I. Mamaev","doi":"10.1109/NIR52917.2021.9666116","DOIUrl":null,"url":null,"abstract":"This paper describes the design of the underwater robot which is moved by rotating the internal rotor. The design of the robot is described. A finite-dimensional mathematical model describing the robot’s motion is presented. The study of the derived equations of motion is carried out, the influence of the parameters of the control action on the mode of the robot motion is considered.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design and control for the underwater robot with internal rotor\",\"authors\":\"A. Klekovkin, Y. Karavaev, I. Mamaev\",\"doi\":\"10.1109/NIR52917.2021.9666116\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper describes the design of the underwater robot which is moved by rotating the internal rotor. The design of the robot is described. A finite-dimensional mathematical model describing the robot’s motion is presented. The study of the derived equations of motion is carried out, the influence of the parameters of the control action on the mode of the robot motion is considered.\",\"PeriodicalId\":333109,\"journal\":{\"name\":\"2021 International Conference \\\"Nonlinearity, Information and Robotics\\\" (NIR)\",\"volume\":\"72 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-08-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 International Conference \\\"Nonlinearity, Information and Robotics\\\" (NIR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/NIR52917.2021.9666116\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/NIR52917.2021.9666116","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design and control for the underwater robot with internal rotor
This paper describes the design of the underwater robot which is moved by rotating the internal rotor. The design of the robot is described. A finite-dimensional mathematical model describing the robot’s motion is presented. The study of the derived equations of motion is carried out, the influence of the parameters of the control action on the mode of the robot motion is considered.
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