Rivera, Carlos Octavio (1995) Hydrodynamic loads on underwater robot arms. Masters thesis, Memorial University of Newfoundland.
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Computed Load and Sliding Mode control strategies for robots make use of the overall equations of motion. Unfortunately, for robots working in a marine environment, these equations do not provide an accurate control because of a lack of good hydrodynamics data. -- The objective of the thesis is to incorporate the hydrodynamic loads, acting on robot arms working underwater, into the equations of motion. The thesis describes a two-link robot arm model and experimental setup designed for the purpose of gathering hydrodynamic data. -- The thesis also describes the techniques used to analyze the obtained data. These include dimensional analysis and a neural network identification program.
|Item Type:||Thesis (Masters)|
|Additional Information:||Bibliography: leaves 107-112. -- Accompanying disk contains programs and data.|
|Department(s):||Engineering and Applied Science, Faculty of|
|Library of Congress Subject Heading:||Robot hands; Hydrodynamics|
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