摘要
近年来仿生技术在水下机器人上的应用已经成为水下机器人的重要研究方向之一。仿生水下机器人采用尾鳍提供前进动力和改变航向,比传统的桨舵具有高效性和高机动性。本文根据仿生水下机器人水池试验结果讨论了其运动性能,并在此基础上提出了仿生水下机器人运动控制方法,最后通过仿真试验验证了该方法的可行性。运动控制研究,是仿生水下机器人其它使命的基础,具有重要的意义。
The application of the bionic technology in the fields of the Underwater Vehicle hasbeen more attractive recently. Compared to the traditional propeller and rudder, the bionic UVinspired by the fish cruises and turns by its caudal fin, which gives more efficiency and moremaneuverability. First we discuss the movement capability of the bionic UV according to the resultsof its water tank tests. Then we give a method of its motion control here. And the feasibility ofthe method was proved by simulation experiments at last. Motion control is meaningful for the bionicUV to complete other tasks.[
出处
《机器人技术与应用》
2004年第4期37-42,共6页
Robot Technique and Application
