Dynamic Analysis of Underwater Vehicle-Manipulator Systems

摘要

Dynamic model of an underwater robot is nonlinear in hydrodynamic parameters such as added mass, damping, etc. The hydrodynamic coefficients vary with time and configuration of the robot. This paper presents a modeling technique for the Underwater Vehicle-Manipulator System (UVMS) using the DeNOC matrices. Furthermore, as a starting point, some simple hydrodynamic experiments were performed which are used to validate the hydrodynamic simulation in MATLAB environment. For these simulations, the hydrodynamic coefficients were considered to be constant throughout the simulation of the manipulators. Two experiments were performed. In the first experiment, free fall of one-link arm was considered, and in the second, free fall of a two-link manipulator was considered. The simulation results obtained were found in good agreement with the experimental results, even with the constant hydrodynamic coefficients, because of the simple structure of the experiments.