Dynamic Modeling and Simulation an Underwater Vehicle Manipulator System

Leifeng Gao, Yunxuan Song, Jian Gao, Yimin Chen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

We propose in this paper to apply the calculus idea of Morrison's formula to approximate the hydrodynamic forces subjected to during the motion of the manipulator. And a complete hydrodynamic model of the underwater vehicle manipulator system(UVMS) is assured based on the traditional rigid body manipulator the Denavit-Hartenberg Covention and the Newton-Euler method. A five-time polynomial is applied for a Reach5 Mini(R5M) manipulator trajectory planning and a single-joint PD control algorithm is used for manipulator control. Simulations are used to validate the efficacy of the PD controller, and the positional change of the vehicle body under the influence of coupling action is obtained.

Original languageEnglish
Title of host publication2022 IEEE 9th International Conference on Underwater System Technology
Subtitle of host publicationTheory and Applications, USYS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350323139
DOIs
StatePublished - 2022
Event9th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2022 - Kuala Lumpur, Malaysia
Duration: 5 Dec 20226 Dec 2022

Publication series

Name2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications, USYS 2022

Conference

Conference9th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2022
Country/TerritoryMalaysia
CityKuala Lumpur
Period5/12/226/12/22

Keywords

  • dynamics
  • kinematics
  • PD control
  • UVMS

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