Abstract

This paper describes the dynamic modelling, simulation and control of an underwater vehicle equipped with two degrees of freedom (DOF) planar underwater manipulator with all its joints revolute. Performance analysis of underwater vehicle and manipulator tracking control in spatial co-ordinates are done using numerical simulations. A PID controller based feedback linearization control design is developed for the underwater vehicle and manipulator. Controlled movement in surge (x-direction), sway (y-direction) and heave (z-direction) directions is achieved for the underwater vehicle and controlled movement in x-z (global) plane is achieved for the underwater manipulator, both with respect to inertial frame of reference. Simulation of tracking control of the robot using cubic polynomial equation based trajectory planning is done.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.