Modeling of two underwater vehicles with manipulators on-board

Author

Padir, Taskin ; Koivo, Antti J.

Author_Institution

Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA

Volume

2

fYear

2003

fDate

5-8 Oct. 2003

Firstpage

1359

Abstract

The modeling of two cooperating underwater vehicles with on-board manipulators carrying a common rigid load is studied. The velocity relations and the kinematic coupling are discussed. The kinematic constraints are due to fact that the velocities of the manipulator end-effectors are related via the rigid load. For the entire system, a dynamical model that takes into account the hydrodynamic effects is established for the design of a controller. The dynamical model is based on the Lagrange formulation and is developed in the world coordinate frame. The dynamical coupling arises as a result of the forces and moments transmitted through the common load. Several properties of the system under consideration are also discussed.

Keywords

control system synthesis; end effectors; hydrodynamics; manipulator kinematics; modelling; underwater vehicles; Lagrange formulation; common rigid load; control system synthesis; controller design; dynamical coupling; end effectors; hydrodynamic effects; kinematic constraints; kinematic coupling; modeling; onboard manipulators; underwater vehicles; velocity relations; Adaptive control; Equations; Hydrodynamics; Kinematics; Manipulator dynamics; Motion control; Programmable control; Sliding mode control; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2003. IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-7952-7

Type

conf

DOI

10.1109/ICSMC.2003.1244601

Filename

1244601