How to model and control and underwater robotic arm

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Shevon Fernando
Shevon Fernando on 9 Jul 2021
Answered: Steve Miller on 24 Nov 2021
I have to model and control a robotic arm that is supposed to work underwater for an assignment.
I have modelled the arm on solidworks, then imported to sim mechanics using smlink plugin. i applied the hydrodynamic forces to the arm by creating frame in the solid and applying functions to them. and then i directly connected the system to the controller by taking measured outputs from the revolute joints. however i cant stabalize the controller. do i have to take jacobians and apply it to the system? if so, how should i go about doing it?
Thanks in advance.

Answers (1)

Steve Miller
Steve Miller on 24 Nov 2021
There are many different approaches for creating a stable controller for your robotic arm. I would suggest you look at at this example in Simulink Control Design:

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