Journal
OCEAN ENGINEERING
Volume 149, Issue -, Pages 358-372Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2017.12.007
Keywords
Multi-body dynamics; Udwadia-Kalaba equation; Modular underwater robots; Constrained dynamics; Quasi-coordinates; Re-configurable robots
Funding
- Research Council of Norway through the Centres of Excellence funding scheme [223254 - AMOS]
- Norwegian research Council
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This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most significant dynamics. The proposed modelling method is based on active constraint enforcement by utilising the Udwadia-Kalaba Formulation for multi-body dynamics. The required description of a rigid constraint is defined, derived and implemented into a system of interconnected sub-models. An exhaustive experimental validation is conducted on a two-vehicle system, including towing tank tests on a BIueROV vehicle to determine the model parameters. The applicability of the modelling approach is assessed by comparing experimental data to simulations of an equivalent model synthesised using the proposed theory.
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