水下航行器机械臂系统动力学建模与仿真

2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS) Pub Date : 2022-12-05 DOI:10.1109/USYS56283.2022.10072517

L. Gao, Yunxuan Song, Jian Gao, Yimin Chen

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引用次数: 0

摘要

本文提出应用莫里森公式的微积分思想来近似计算机械臂运动过程中所受的水动力。在传统刚体机械臂、denavitt - hartenberg公约和牛顿-欧拉方法的基础上，建立了水下机器人机械臂系统的完整水动力模型。采用五次多项式对Reach5 Mini(R5M)机械手进行轨迹规划，采用单关节PD控制算法对机械手进行控制。通过仿真验证了PD控制器的有效性，得到了耦合作用下车体的位置变化。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dynamic Modeling and Simulation an Underwater Vehicle Manipulator System

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.

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2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)

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