Development of a 5 degree-of-freedom Towfish and its Control Strategy

Abstract : This paper describes the development of a five degree of freedom towed underwater vehicle designed for condition monitoring of undersea pipelines. Its innovative design, with 6 fins actuated by 5 motors adding heave and sway capabilities to the yaw, roll and pitch movements possible in traditional designs, is explained. The parameters influencing the stability and the design in general are analyzed. A Control strategy for this design of highly coupled movements and control modes encompassing all the operational scenarios, are presented.
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Communication dans un congrès
6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. Springer, 42, 2007, Springer Tracts in Advanced Robotics
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Soumis le : mercredi 19 décembre 2007 - 13:49:59
Dernière modification le : mercredi 29 novembre 2017 - 15:14:20
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  • HAL Id : inria-00199712, version 1

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Mohammad Aamir Khan, Aazir Khan, Matteo Zoppi, Rezia Molfino. Development of a 5 degree-of-freedom Towfish and its Control Strategy. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. Springer, 42, 2007, Springer Tracts in Advanced Robotics. 〈inria-00199712〉

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