Abstract
Underwater vehicle-manipulator system (UVMS) can be applied to fulfill different complex underwater tasks such as grasping, drilling, sampling, etc. It is widely used in the field of oceanographic research, marine exploration, military, and commercial applications. In this paper, the dynamic simulation of UVMS is presented in the process of grasping an object. First, the dynamic model of UVMS, which considers the change of the load of manipulator when the end effector of manipulator grasps the object, is developed. To compare different conditions, numerical simulation of grasping processes without/with vehicle attitude control are carried out. The simulation results show that the coupling dynamics between the vehicle and the manipulator in the grasping process are clearly illustrated. It deteriorates the positioning accuracy of the end effector of the manipulator and is harmful to underwater precision operations. The tracking position error of end effector without vehicle control is large and UVMS cannot complete the grasping task under this condition. Vehicle control can compensate the motion of the vehicle due to the coupling effect caused by the motion of the manipulator. This study will contribute to underwater operation mission for UVMS with floating base.
Highlights
Due to the unknown underwater environment caused by poor knowledge of the hydrodynamic coefficients, the floating base and under-actuated of the Underwater vehicle-manipulator system (UVMS), strongly nonlinear and coupled dynamics, and unpredictable external disturbances, these bring huge challenge for the underwater operation mission
UVMS is under-actuated system when the vehicle is without attitude control, UVMS is fully actuated system when the vehicle is with attitude control
Without the control for vehicle, the operation of manipulator cannot be completed for the coupling effect between the vehicle and the manipulator
Summary
Underwater vehicle-manipulator system (UVMS) is a powerful tool for ocean exploration and marine environment observation [1,2,3]. It can be applied to fulfill the different complex underwater operation tasks such as grasping, drilling, sampling, etc., [4,5,6]. Due to the unknown underwater environment caused by poor knowledge of the hydrodynamic coefficients, the floating base and under-actuated of the UVMS, strongly nonlinear and coupled dynamics, and unpredictable external disturbances, these bring huge challenge for the underwater operation mission. Motion coordination and disturbance compensation for UVMS need to be considered to reduce the coupling effect between the vehicle and the manipulator [7,8,9,10]. Underwater grasping operation of UVMS is a significant point in research and engineering practice
Sign-in/Register to view highlights & summary 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 callDisclaimer: 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.
