Balance Analysis for UVMS based on Shaking Force and Shaking Moment
Underwater vehicle-manipulator system (UVMS) is expected to perform important tasks in complex ocean environment.Because of the dynamic coupling between the manipulator and the vehicle base,the position and orientation of vehicle will be affected during the motion of manipulator.Such disturbance would make it difficult to control the manipulator.On the basis of the reaction principle and the theory of balancing for planar mechanisms,this paper concerns balance analysis for a free-floating underwater robot with a horizontal planar,two-link manipulator by calculated shaking force and shaking moment which are used to evaluate the disturbance and select controlling parameters.Firstly,a dynamic model of UVMS including hydrodynamic forces is derived by using Product of Exponential Formula and Kane’s Equations.Then assuming the base is fixed,by selecting suitable motion planning in joints,we obtain minimum shaking force and shaking moment aiming to minimizes the degrading consequences due to dynamic interaction between manipulator and it’s free-floating base.At last,a numerical simulation was conducted based on the dynamic model and the results of vehicle’s response show the effectiveness of the balancing.
UVMS product exponentials formula Kane’s equation balance
Xiaogang Dong Tao Yao Zhongqiang Zheng Zongyu Chang
Engineering College,Ocean University of China,Qingdao266100,China
国际会议
天津
英文
1-5
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）