Dynamic Modeling and Simulation an Underwater Vehicle Manipulator System

Abstract

We propose in this paper to apply the calculus idea of Morrison’s formula to approximate the hydrodynamic forces subjected to during the motion of the manipulator. And a complete hydrodynamic model of the underwater vehicle manipulator system(UVMS) is assured based on the traditional rigid body manipulator the Denavit-Hartenberg Covention and the Newton-Euler method. A five-time polynomial is applied for a Reach5 Mini(R5M) manipulator trajectory planning and a single-joint PD control algorithm is used for manipulator control. Simulations are used to validate the efficacy of the PD controller, and the positional change of the vehicle body under the influence of coupling action is obtained.