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

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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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Authors and Affiliations

  1. Department of Systems Science and Mathematics, Washington University, Campus Box 1040, 63130, St. Louis, MO, USA

    T. J. Tarn, G. A. Shoults & S. P. Yang

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  1. T. J. Tarn
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  2. G. A. Shoults
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  3. S. P. Yang
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Tarn, T.J., Shoults, G.A. & Yang, S.P. A dynamic model of an underwater vehicle with a robotic manipulator using Kane's method. Auton Robot 3, 269–283 (1996). https://doi.org/10.1007/BF00141159

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  • DOI: https://doi.org/10.1007/BF00141159

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