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Method for accurately controlling the movement of robotic fish joint

A joint motion, precise control technology, applied in control/adjustment system, adaptive control, general control system, etc., can solve the problem of inaccurate control results, achieve accurate control results, improve swimming posture, and good propulsion performance. Effect

Active Publication Date: 2018-03-09
HOHAI UNIV
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Problems solved by technology

Therefore, the shaking of the head of the robot fish during swimming is a common problem in the manufacture of robot fish at present. It cannot be completely eliminated, but the amplitude of the shaking can only be reduced as much as possible. Therefore, the fish body wave equation of the above slender body theory is precisely controlled The method of robot fish joint movement, the control result obtained is not accurate

Method used

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  • Method for accurately controlling the movement of robotic fish joint
  • Method for accurately controlling the movement of robotic fish joint
  • Method for accurately controlling the movement of robotic fish joint

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Embodiment 2

[0102] like Figure 7 , 8 As shown, the robot fish of the present invention includes three main driving joints, which are respectively the first main driving joint, the second main driving joint and the third main driving joint, and the length ratio of the three main driving joints is 1:1:1.2 . Each main drive joint includes a steering gear 4 and a driving rod 3. One end of the driving rod is connected to the output shaft 2 of the steering gear, and the joint is a sealing structure 5, which seals the interface by means of sealant to prevent the inside of the steering gear from Enter the water, and the other end is fixedly connected with the steering gear shell 1 of the adjacent drive joint. The three-joint robotic fish motion joint and the tail appear to be a reciprocating movement as a whole, and each main drive joint is also based on the previous main drive joint. reciprocating motion. Between the first main driving joint and the second main driving joint, and between the...

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Abstract

The invention discloses a method for accurately controlling the movement of a robotic fish joint. According to the method, a robotic fish original kinematic model is adopted as the basis. A kinematicmodel of the tail part of a robotic fish is deduced under the condition that the shaking of a fish head of the robotic fish is considered. In this way, a method for reducing the shaking of the fish head of the robotic fish is configured on the above basis. Meanwhile, a minimum error method is adopted for fitting to obtain the motion equation of each joint, and the control result is accurate. As aresult, the swimming posture of the robotic fish is more similar to the swimming posture of the real fish. The swimming posture of the robotic fish is more soft, and the swimming speed and the efficiency are improved. A kinematic model is provided for researching and analyzing the motion posture of the robotic fish, so that the robotic fish has good propulsion performance.

Description

technical field [0001] The invention relates to the technical field of robotic fish, in particular to a method for precisely controlling joint motion of robotic fish. Background technique [0002] Through research on fish, biologists have concluded that fish will produce a traveling wave in the process of steady-state cruise. This kind of wave propagates from the fluctuation starting point of the fish trunk to the tail, and the amplitude gradually increases, which is called fish body wave. In order to obtain the parameterized model of the fish body wave when the robot fish swims, it is necessary to simplify the model of the robot fish. The body thickness of the robot fish is distributed symmetrically along the direction of its body trunk, so the body trunk of the robot fish is abstracted into a symmetrical center line in the direction of its body thickness, and this is used as the research object of the robot fish motion curve, as shown in figure 1 shown. According to the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04B63C11/52
CPCB63C11/52G05B13/042
Inventor 娄保东丛宇
Owner HOHAI UNIV
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