This book is about the design and control of biomimetic underwater robots. It explains the six aspects of the underwater biomimetic vehicle- manipulator system in detail and provides practical examples. This book is the authors’ long-term exploration of the theoretical and technical issues in the development of the underwater biomimetic vehicle-manipulator system and is written based on more than 15 years of scientific research and practical experience. This book is a helpful reference for the researchers, engineers, master and Ph.D. students in the field of biomimetic underwater robots.
Author(s): Shuo Wang, Yu Wang, Min Tan, Rui Wang, Xiang Dong, Qingping Wei, Liuji Shang
Series: Unmanned System Technologies
Publisher: Springer-NDIP
Year: 2023
Language: English
Pages: 180
City: Beijing
Preface
Brief Introduction
Contents
1 Introduction
1.1 Underwater Vehicle-Manipulator System
1.2 Underwater Biomimetic Vehicle Propelled by Undulating Fins
1.2.1 Theoretical Analysis of Undulatory Fin
1.2.2 Experimental Observation and Analysis of Undulating Fin
1.2.3 Numerical Analysis of Undulating Fin
1.3 Autonomous Operation of the Underwater Vehicle-Manipulator System
1.4 Trajectory Planning of the Underwater Vehicle-Manipulator System
References
2 Design of the Underwater Biomimetic Vehicle-Manipulator System
2.1 Mechanical Design of the UBVMS
2.1.1 Mechanical Design of the Bionic Propulsor
2.1.2 Mechanism Design of the Underwater Manipulator
2.2 Control System Design of the UBVMS
2.2.1 Underlying Driving System of Undulatory Fins
2.2.2 Underlying Driving Remote Update System
References
3 Kinematics and Dynamics Modeling of the Biomimetic Undulatory Fin
3.1 Kinematics Modeling of the Undulatory Fin
3.1.1 Kinematics Modeling
3.1.2 Effects on the Movement of Undulating Fin
3.2 Dynamic Modeling of Undulatory Fins
3.2.1 Basal Principle
3.2.2 Dynamic Modeling
References
4 Motion Control of the Underwater Biomimetic Robot
4.1 Three-Dimensional Motion Control
4.2 Depth Control and Yaw Angle Control
4.2.1 System Modeling
4.2.2 Depth Control
4.2.3 Yaw Angle Control
References
5 Path Planning of Underwater Biomimetic Robot
5.1 Real-Time Dynamic Dubins-Helix Trajectory Planning
5.1.1 Problem Statement
5.1.2 RDDH Trajectory Smoothing
5.1.3 Simulation and Analysis
5.2 Real-Time Trajectory Planning for Autonomous Approaching a Moving Target
5.2.1 Problem Statement
5.2.2 Real-Time Trajectory Planning for Approaching a Moving Target
5.2.3 Model Description for Simultaneous Arrival of the Underwater Biomimetic Robot and the Target
5.2.4 Real-Time Trajectory Planning Algorithm for Approaching a Moving Target
5.2.5 Simulation and Analysis
References
6 Path Tracking Control of the Underwater Biomimetic Robot
6.1 Waypoint Tracking Control
6.1.1 Problem Statement
6.1.2 The Controller Design of Waypoint Tracking
6.1.3 Experiments and Analysis
6.2 Path Tracking Control
6.2.1 Reference Coordinate System
6.2.2 Problem Statement
6.2.3 The Controller Design
6.2.4 Experiment and Analysis
References
7 Autonomous Grasping Control of the Underwater Biomimetic Vehicle-Manipulator System
7.1 Hand–Eye Coordination Control of the Underwater Manipulator
7.1.1 Autonomous Grasping Control of Manipulator
7.1.2 Experiment and Results
7.2 Coordination Planning and Control of the Underwater Biomimetic Vehicle-Manipulator System
7.2.1 Coordination Planning and Control Based on Task-Priority Algorithm
7.2.2 Experiment and Results
References
