A Dynamic Model of an Underwater Vehicle with a Robotic Manipulator using Kane’s Method View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

1996

AUTHORS

T. J. Tarn , G. A. Shoults , S. P. Yang

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. More... »

PAGES

195-209

Book

TITLE

Underwater Robots

ISBN

978-1-4612-8616-5
978-1-4613-1419-6

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-1-4613-1419-6_11

DOI

http://dx.doi.org/10.1007/978-1-4613-1419-6_11

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1002489262


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