Title :
Modeling of two underwater vehicles with manipulators on-board
Author :
Padir, Taskin ; Koivo, Antti J.
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
The modeling of two cooperating underwater vehicles with on-board manipulators carrying a common rigid load is studied. The velocity relations and the kinematic coupling are discussed. The kinematic constraints are due to fact that the velocities of the manipulator end-effectors are related via the rigid load. For the entire system, a dynamical model that takes into account the hydrodynamic effects is established for the design of a controller. The dynamical model is based on the Lagrange formulation and is developed in the world coordinate frame. The dynamical coupling arises as a result of the forces and moments transmitted through the common load. Several properties of the system under consideration are also discussed.
Keywords :
control system synthesis; end effectors; hydrodynamics; manipulator kinematics; modelling; underwater vehicles; Lagrange formulation; common rigid load; control system synthesis; controller design; dynamical coupling; end effectors; hydrodynamic effects; kinematic constraints; kinematic coupling; modeling; onboard manipulators; underwater vehicles; velocity relations; Adaptive control; Equations; Hydrodynamics; Kinematics; Manipulator dynamics; Motion control; Programmable control; Sliding mode control; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Systems, Man and Cybernetics, 2003. IEEE International Conference on
Print_ISBN :
0-7803-7952-7
DOI :
10.1109/ICSMC.2003.1244601
