Design of a CMG for underwater robots
In this paper we present a Control Moment Gyroscope (CMG) for underwater robots. This is a single gimbal CMG with pyramid type configuration. This device has a modular design and is self-contained (i.e., all mechanical and electrical parts are contained in the CMG's hull.) The mechanical, elect...
- Autores:
- Tipo de recurso:
- Fecha de publicación:
- 2011
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/9109
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/9109
- Palabra clave:
- Control moment gyroscope
Electrical parts
Electronic component
Experimental test
Modular designs
System functionality
Underwater robots
Machine design
- Rights
- restrictedAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
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2020-03-26T16:32:58Z2020-03-26T16:32:58Z2011OCEANS 2011 IEEE - Spain9781457700866https://hdl.handle.net/20.500.12585/910910.1109/Oceans-Spain.2011.6003401Universidad Tecnológica de BolívarRepositorio UTB228374328005623300910065065583666603913268In this paper we present a Control Moment Gyroscope (CMG) for underwater robots. This is a single gimbal CMG with pyramid type configuration. This device has a modular design and is self-contained (i.e., all mechanical and electrical parts are contained in the CMG's hull.) The mechanical, electrical and electronic components of the CMG are described, and two experimental test are carry out to demonstrate the system functionality. © 2011 IEEE.Recurso electrónicoapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/restrictedAccessAtribución-NoComercial 4.0 Internacionalhttp://purl.org/coar/access_right/c_16echttps://www.scopus.com/inward/record.uri?eid=2-s2.0-80052946043&doi=10.1109%2fOceans-Spain.2011.6003401&partnerID=40&md5=46e913523f77dd85896a70980d77a5beOCEANS 2011 IEEE - SpainDesign of a CMG for underwater robotsinfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionConferenciahttp://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/resource_type/c_c94fControl moment gyroscopeElectrical partsElectronic componentExperimental testModular designsSystem functionalityUnderwater robotsMachine designSantander6 June 2011 through 9 June 2011Yime E.Moreno H.Saltarén R.Aracil R.Bedrossian, N.S., Paradiso, J., Bergmann, E.V., Rowell, D., Redundant single gimbal control moment gyroscope singularity analysis (1990) J. Guidance, 13 (6), pp. 1096-1101Thornton, B., Ura, T., Nose, Y., Turnock, S., Internal actuation of underwater robots using control moment gyros (2005) IEEE Oceans 2005, 1, pp. 591-598Oh, H.S., Vadali, S.R., Feedback control and steering laws for spacecraft using single gimbal control moment gyros (1991) J. Astronautical Sciences, 39 (2), pp. 183-203Margulies, G., Aubrun, J.N., Geometric theory of single-gimbal control moment gyro systems (1978) Journal of the Astronautical Sciences, 26 (2), pp. 159-191Kurokawa, H., A geometric study of single gimbal control moment gyros, singularity problems and steering law (1988) Intelligent Systems Institute, National Institute of Advanced Science and Technology, 175, pp. 305-8564. , 1-2-1 Namiki, Tsukuba, Ibaraki Japan, Tech. RepWie, B., Singularity analysis and visualization for single-gimbal control moment gyro systems (2004) Journal of Guidance, Control and Dynamics, 27 (2), pp. 271-282Saltaren, R., Aracil, R., Alvarez, C., Yime, E., Sabater, J., Field and service applications-exploring deep sea by teleoperated robot-an underwater parallel robot with high navigation capabilities (2007) Robotics Automation Magazine, IEEE, 14 (3), pp. 65-75. , sepYime, E., Quintero, J., Saltaren, R., Aracil, R., A new approach to avoid internal singularities in cmg with pyramidal shape using sliding control (2009) IFAC European Control Conference, ECC 09http://purl.org/coar/resource_type/c_c94fTHUMBNAILMiniProdInv.pngMiniProdInv.pngimage/png23941https://repositorio.utb.edu.co/bitstream/20.500.12585/9109/1/MiniProdInv.png0cb0f101a8d16897fb46fc914d3d7043MD5120.500.12585/9109oai:repositorio.utb.edu.co:20.500.12585/91092021-02-02 14:09:21.653Repositorio Institucional UTBrepositorioutb@utb.edu.co |
| dc.title.none.fl_str_mv |
Design of a CMG for underwater robots |
| title |
Design of a CMG for underwater robots |
| spellingShingle |
Design of a CMG for underwater robots Control moment gyroscope Electrical parts Electronic component Experimental test Modular designs System functionality Underwater robots Machine design |
| title_short |
Design of a CMG for underwater robots |
| title_full |
Design of a CMG for underwater robots |
| title_fullStr |
Design of a CMG for underwater robots |
| title_full_unstemmed |
Design of a CMG for underwater robots |
| title_sort |
Design of a CMG for underwater robots |
| dc.subject.keywords.none.fl_str_mv |
Control moment gyroscope Electrical parts Electronic component Experimental test Modular designs System functionality Underwater robots Machine design |
| topic |
Control moment gyroscope Electrical parts Electronic component Experimental test Modular designs System functionality Underwater robots Machine design |
| description |
In this paper we present a Control Moment Gyroscope (CMG) for underwater robots. This is a single gimbal CMG with pyramid type configuration. This device has a modular design and is self-contained (i.e., all mechanical and electrical parts are contained in the CMG's hull.) The mechanical, electrical and electronic components of the CMG are described, and two experimental test are carry out to demonstrate the system functionality. © 2011 IEEE. |
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2011 |
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2011 |
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2020-03-26T16:32:58Z |
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2020-03-26T16:32:58Z |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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OCEANS 2011 IEEE - Spain |
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9781457700866 |
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https://hdl.handle.net/20.500.12585/9109 |
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10.1109/Oceans-Spain.2011.6003401 |
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Universidad Tecnológica de Bolívar |
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Repositorio UTB |
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22837432800 56233009100 6506558366 6603913268 |
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OCEANS 2011 IEEE - Spain 9781457700866 10.1109/Oceans-Spain.2011.6003401 Universidad Tecnológica de Bolívar Repositorio UTB 22837432800 56233009100 6506558366 6603913268 |
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https://hdl.handle.net/20.500.12585/9109 |
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eng |
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eng |
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Santander |
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6 June 2011 through 9 June 2011 |
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