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Design of a CMG for underwater robots

Abstract:

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.

Año de publicación:

2011

Keywords:

    Fuente:

    scopusscopus

    Tipo de documento:

    Conference Object

    Estado:

    Acceso restringido

    Áreas de conocimiento:

    • Ingeniería mecánica
    • Robótica

    Áreas temáticas:

    • Física aplicada
    • Otras ramas de la ingeniería

    Contribuidores:

    Yime E.Yime E.
    Roque J. Saltarén PazmiñoRoque J. Saltarén Pazmiño
    Santonja R.A.Santonja R.A.
    Moreno H.A.Moreno H.A.