A dynamic model of an underwater vehicle with a robotic manipulator using Kane's method View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

1996-06

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

269-283

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/bf00141159

DOI

http://dx.doi.org/10.1007/bf00141159

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1022941750


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