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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© 1996 Kluwer Academic Publishers
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Tarn, T.J., Shoults, G.A., Yang, S.P. (1996). A Dynamic Model of an Underwater Vehicle with a Robotic Manipulator using Kane’s Method. In: Yuh, J., Ura, T., Bekey, G.A. (eds) Underwater Robots. Springer, Boston, MA. https://doi.org/10.1007/978-1-4613-1419-6_11
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DOI: https://doi.org/10.1007/978-1-4613-1419-6_11
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4612-8616-5
Online ISBN: 978-1-4613-1419-6
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