| 摘要 |
PURPOSE: A method for approximately modeling fluid resistance torque applied to an articulated underwater robot is provided to allow for application to an L-E motion equation by approximately modeling fluid force and torque. CONSTITUTION: A method for approximately modeling fluid resistance torque applied to an articulated underwater robot comprises following steps. The application range of a hydrodynamic coefficient according to the section of the articulated links of a robot moving under the water is determined. The fluid force applied to the articulated links is approximately calculated. The fluid force torque applied to a joint coordinate system is calculated through fluid force applied to the articulated links. The fluid force torque applied to a joint coordinate system is converted into the fluid force torque, and the fluid force torque by the articulated links is calculated. [Reference numerals] (AA) Algorithm for calculating a motion equation of an articulated underwater link; (BB) Algorithm for calculating fluid resistance torque; (CC) Algorithm for calculating fluid resistance torque applied to the link; (DD) Algorithm for calculating generalized fluid resistance torque |
