Abstract
Remotely operated underwater vehicles (ROV’s) are important tools for inspection and maintenance tasks in off-shore engineering and for submarine structures as well as for exploration and exploitation in deep sea mining. The communication, power, and control connection to the operation basis is usually performed by means of a tether cable (umbilical) which has a significant influence on the overall behavior of the system. In order to optimize the vehicle construction and to design an appropriate control system, knowledge about general characteristics of the dynamics of the system is required. The aim of this paper is to concentrate on the dynamic behavior of the cable and to outline a strategy to divide the cable into a quasistatic and dynamic part in order to reduce calculation time for on-line control purposes. For the numerical simulations hydrodynamic effects must properly be taken into account. In this fundamental investigation the cable is modeled as a planar multibody system with twenty elements; the generation of the symbolic equations of motion is performed by using computer algebra packages. The simulation of a typical robot manoeuver indicates the strong influence of the cable even for moderate currents.
Published Version
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