A dynamic model of an underwater vehicle with a robotic manipulator using Kane's method
| ISSN: |
1573-7527
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| Keywords: |
underwater robotic vehicle ; hydrodynamic forces ; thruster dynamic model ; Kane's method
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| Source: |
Springer Online Journal Archives 1860-2000
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| Topics: |
Computer Science
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
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| Notes: |
Abstract Development of a robust autonomous Underwater Robotic Vehicle (URV) is a key element to the exploitation of marine resources. An accurate dynamic model is important for both controller design and mission simulation, regardless of the control strategy employed. In this paper, a dynamic model for an underwater vehicle with an n-axis robot arm is developed based on Kane's method. The technique provides a direct method for incorporating external environmental forces into the model. The model developed in this paper includes four major hydrodynamic forces: added mass, profile drag, fluid acceleration, and buoyancy. The model derived is a closed form solution which can be utilized in modern model-based control schemes.
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| Type of Medium: |
Electronic Resource
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| URL: |