A DYNAMIC MODEL FOR MOTION OF AN ROV DUE TO ON-BOARD ROBOTICS

A new method in dynamics the Moving Frame Method (MFM) is used to conduct the analysis of how a robotic appendage (manipulator) on a Remotely Operated Vehicle (ROV) affects the motion of the ROV. An ROV performs multiple tasks on the seabed in the oil service industry. In most cases, an ROV pilot monitors and adjusts the movement of the vehicle due to induced motion by currents, buoyancy and the manipulators. Simulation data would assist the pilot and improve the stability of the ROV. This paper exploits a new method to analyze the induced movements of the ROV. The method uses the Special Euclidean Group (SE(3)) and the MFM. The method is supplemented with a restricted variation on the angular velocity to extract the equations of motion for the ROV. Then the equations of motion are solved numerically using Runge-Kutta Method and a reconstruction formula (founded upon the Cayley-Hamilton theorem) to secure the 3D rotations of the vehicle. The resulting motion is visualized with selected 2D plots. The 3D animation is displayed on a 3D web page. This paper closes with a summary of the simplifications used in the model and suggestions for advanced work. [GRAPHICS] .