Abstract

DIAZ-GUTIERREZ, C. E; SEGOVIA-DE-LOS-RIOS, J. A; GARDUNO-GAFFARE, M. P  and  BENITEZ-READ, J. S. Manoeuvre test simulation of a teleoperated robot designed for flow measurement in natural water bodies. Ing. Investig. [online]. 2012, vol.32, n.3, pp.66-70. ISSN 0120-5609.

This article describes the simulation results of manoeuvring operations used in ships, but applied to an SA-1 teleoperated aquatic robot. The SA-1 is a type of robot designed for flow measurement in natural water bodies (rivers, lakes). A robot's dynamic stability and course stability must be guaranteed due to the different tasks assigned to it. These features can be demonstrated through the pull-out manoeuvre, the Dieudonné spiral manoeuvre, modified Kempf manoeuvre and turning circle manoeuvre. System behaviour when using such manoeuvres can be used to propose a better control system for improving robot performance or modify system design.

Keywords : Teleoperated-aquatic-robot; simulation; mathematical-model; ship-manoeuvre; PWM-function.

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