Motion Dynamics Analysis of a Floating Robot

Vibration Problems ICOVP 2011: Supplement: The 10th International Conference on Vibration Problems 2011
Edgars Kovals, Jānis Vība, Guntis Kuļikovskis, Marija Kruusmaa, Paolo Fiorini, Jean-Guy Fontaine

Floating and underwater robot motion dynamics model with six DOFs is investigated. To simplify the problems associated with the objects interraction with the enviroment, water stream and wind flow, the models hull has been unified to a form of parallelepiped. In this case the robots translation motion around the center of mass - by the kinetic momentum exchange theorem.

Keywords
Motion control, floating robot, vibrations in fluid, floating interaction

Kovals, E., Vība, J., Kuļikovskis, G., Kruusmaa, M., Fiorini, P., Fontaine, J. Motion Dynamics Analysis of a Floating Robot. In: Vibration Problems ICOVP 2011: Supplement: The 10th International Conference on Vibration Problems, Czech Republic, Prague, 5-8 September, 2011. Liberec: Technical University of Liberec, 2011, pp.510-515. ISBN 978-80-7372-759-8.

Publication language
English (en)