Constrained multi-body dynamics for modular underwater robots - Theory and experiments

OCEAN ENGINEERING

卷:149

Article

Nielsen, Mikkel Cornelius¹  Eidsvik, Ole Alexander²  Blanke, Mogens^1,3  Schjolberg, Ingrid² 

[1] Norwegian Univ Sci & Technol, Ctr Autonomous Marine Operat & Syst, Dept Engn Cybernet, Trondheim, Norway

[2] Norwegian Univ Sci & Technol, Ctr Autonomous Marine Operat & Syst, Dept Marine Technol, Trondheim, Norway

[3] Tech Univ Denmark, Dept Elect Engn, Automat & Control Grp, Lyngby, Denmark

关键词: Multi-body dynamics;    Udwadia-Kalaba equation;    Modular underwater robots;    Constrained dynamics;    Quasi-coordinates;    Re-configurable robots;   

DOI  :  10.1016/j.oceaneng.2017.12.007

来源: Elsevier

【 摘 要 】

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.

【 授权许可】

Free