Motion control method for multi-joint bionic machine fish

A technology of motion control and robotic fish, applied in computer control, adaptive control, general control system, etc.

Inactive Publication Date: 2005-03-16
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the movement of the bionic robot fish in water involves the hydrodynamics of the fluid environment and the kinematics of the fish body, it is impossible to establish a complex hydrodynamic model of the robot fish swimming on the basis of the existing hydrodynamic analysis, so it is difficult Establish an accurate hydrodynamic propulsion model by analytical method to guide the design and control of robotic fish

Method used

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  • Motion control method for multi-joint bionic machine fish
  • Motion control method for multi-joint bionic machine fish
  • Motion control method for multi-joint bionic machine fish

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Embodiment

[0041] The motion control method of the multi-joint bionic robot fish provided by the present invention is applied to the four-joint robot fish developed by the Complex System and Intelligent Science Laboratory of the Institute of Automation, Chinese Academy of Sciences, see figure 2 . The joints of the robotic fish are driven by DC servo motors, and the specific technical parameters are shown in Table 1.

[0042] Dimensions (length x width x height)

~400×40×78mm 3

weight

~0.5kg

Number of joints

4

swing frequency

2Hz (in water)

Swing part length

178mm

Maximum swimming speed (straight travel)

~0.32m / s

Minimum turning radius

~200mm

Maximum torque

3.2Kg×cm

Operating Voltage

4.8V

drive mode

DC servo motor

communication mode

RF (315M)

[0043] OscData [ 18 ] [ 4 ] =...

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Abstract

It is multiple-joint bionic machine fish move control method, which comprises the following: to control the speed of the machine fish straight moving through adjusting the swing frequency of the joints; to control the machine fish direction through exerting different joint excursion. This invention provides the theory design of the multiple-joint machine fish with preference and realizes the moving flexible control and can be applied in design of underwater aircraft, underwater exploration, underwater saving, underwater device maintenance and inspect and defense of the sea domain.

Description

technical field [0001] The invention relates to a motion control method of a multi-joint bionic robot fish. Background technique [0002] As a combination of biological mechanism and engineering technology, biomimetic robotic fish has become a multidisciplinary research involving hydrodynamic control and driving technology. Since the motion of the bionic robotic fish in water involves the hydrodynamics of the fluid environment and the kinematics of the fish body, it is impossible to establish a complex hydrodynamic model of the robotic fish swimming based on the existing hydrodynamic analysis, so it is difficult An accurate hydrodynamic propulsion model is established by analytical method to guide the design and control of the robotic fish. Research by fish behaviorists has shown that the propulsion of fish implies a traveling wave that propagates from the back of the neck to the tail. Inspired by this, people try to study the propulsion of fish from the perspective of kin...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G05B13/00G05B15/00
Inventor王硕喻俊志张志刚桑海泉谭民
OwnerINST OF AUTOMATION CHINESE ACAD OF SCI