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Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing pp 107–121Cite as

Structural Parameter Identification of a Small Robotic Underwater Vehicle

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Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

This paper deals with estimating structural parameters of robotic underwater vehicle (submarine) that cannot be easily measured and determined analytically. The robotic submarine was designed for visual inspection and ultrasonic testing of submerged technologies such as tanks with slowly flowing liquid. The identification procedure contains two strategies which are able to find the structural, especially hydrodynamic parameters of a given model. These parameters are then used for stability and motion control design. The validation of gained model parameters was verified in software Simulink/SimMechanics, where the outputs of the model were compared with vehicle prototype responses.

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Acknowledgments

This work was supported by the grant TA02020414 of Technological Agency of the Czech Republic and by the project LO1506 of the Czech Ministry of Education, Youth and Sports.

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Authors and Affiliations

  1. Department of Cybernetics, Faculty of Applied Sciences, University of West Bohemia, Pilsen, Czech Republic

    Martin Langmajer & Lukáš Bláha

Authors
  1. Martin Langmajer
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  2. Lukáš Bláha
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Corresponding author

Correspondence to Martin Langmajer .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Lassonde School of Engineering York Univ Department of Mechanical Engineering, Toronto, Ontario, Canada

    Dan Zhang

  2. Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, Canada

    Bin Wei

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Langmajer, M., Bláha, L. (2017). Structural Parameter Identification of a Small Robotic Underwater Vehicle. In: Zhang, D., Wei, B. (eds) Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-33581-0_9

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  • DOI: https://doi.org/10.1007/978-3-319-33581-0_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33580-3

  • Online ISBN: 978-3-319-33581-0

  • eBook Packages: EngineeringEngineering (R0)

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