DYNAMIC MODELING OF UNDERWATER VEHICLE-MANIPULATOR SYSTEM BASED ON LIE GROUP

摘要

In the paper, Lie group theory is applied to build the dynamic model of UVMS. According to this theory, screw and twist coordinate are used to describe the kinematic parameters in a global coordinate system. Through exponential mapping and exponential product formula, the transformation matrixes can be obtained between fixed frame and each component of system. Furthermore, and exponential product formula velocity and acceleration and displacement of any point fixed on element can be calculated.rnKane's method is used to build the dynamic model. Based on kinematic analysis, the partial velocities are derived. Then the general forces to each general speed are calculated by force by coordinate partial velocity.rnUsing this method, the kinematic equations can be developed and analyzed within a global coordinate system. Much tedious operations among different local coordinate systems can be avoided using this method. Meanwhile singularity caused by local coordinate system can be avoided. By Kane's method, we can obtain least number of equations and avoid the calculation of different operation, and nonholonomic system can be dealt with by this method. It is often met in control and operation of underwater vehicle.