Hydrodynamic loads on underwater robot arms

Rivera, Carlos Octavio (1995) Hydrodynamic loads on underwater robot arms. Masters thesis, Memorial University of Newfoundland.

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  • [img] [English] PDF - Accepted Version
    Available under License - The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission.
    (Original Version)

Abstract

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)
URI: http://research.library.mun.ca/id/eprint/5365
Item ID: 5365
Additional Information: Bibliography: leaves 107-112. -- Accompanying disk contains programs and data.
Department(s): Engineering and Applied Science, Faculty of
Date: 1995
Date Type: Submission
Library of Congress Subject Heading: Robot hands; Hydrodynamics

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