| Citation: | Wang Tianmiao, Ma Wenkai, Liang Jianhonget al. Control of tail fin flaping of robofish[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(10): 1157-1162. (in Chinese)
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Flipping control of the tail fin with two degrees is a problem of motion control in the condition of high speed and heavy load.It demands that there be little distortion of transformation of speed and position synchronously. The sameness between propulsion by tail fin flipping and that by undulation of fish body was verified, and a math model used for flipping control was deduced according to the rule of tail fin flipping. Based on the SPC-III robot fish, in terms of the control of the main joint, the algorithm, which computes the rotational speed according to its angle position and adds compensative speed via combining the relation of its position and the time variable, was put forward. In terms of the control of the assistant joint, the following algorithm, which computes the assistant joint′s target position according to the relation of the two joints′ position and the cycle period of the program, was put forward. The achievement of high-frequency flipping was discussed. During the experimentation, the following performance of tail fin flipping was validated.
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