Hydrodynamic loads on underwater robot arms

• Main Author: Rivera, Carlos Octavio, 1960-
• Other Authors: Memorial University of Newfoundland. Faculty of Engineering and Applied Science
• Format: Thesis
• Language: English
• Published: 1995
• Subjects: Robot hands; Hydrodynamics; Newfoundland studies; University of Newfoundland
• Online Access: http://collections.mun.ca/cdm/ref/collection/theses2/id/160625

Thesis (M.Eng.)--Memorial University of Newfoundland, 1995. Engineering and Applied Science Bibliography: leaves 107-112. -- Accompanying disk contains programs and data. 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.