Fish robot modeling and simulation: Fish-tail and rigid-body motion
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Publication Details
Author list: Suebsaiprom P., Lin C.-L., Saimek S.
Publication year: 2012
Volume number: 4
Issue number: 18
Start page: 105
End page: 114
Number of pages: 10
ISSN: 2005-8039
eISSN: 2005-8039
Languages: English-Great Britain (EN-GB)
Abstract
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.
Keywords
Fish robot, Fish-tail modeling, Hydrodynamic force
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