Dynamic Modeling and Simulation an Underwater Vehicle Manipulator System

被引：0
|
作者：
Gao, Leifeng [1 ]
Song, Yunxuan [1 ]
Gao, Jian [1 ]
Chen, Yimin [1 ]
机构：
[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian, Peoples R China
来源：
2022 IEEE 9TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS, USYS | 2022年
基金：
中国国家自然科学基金;
关键词：
UVMS; kinematics; dynamics; PD control;
D O I：
10.1109/USYS56283.2022.10072517
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 e fficacy of the PD controller, and the positional change of the vehicle body under the influence of coupling action is obtained.
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页数：6
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