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Dynamic Analysis of the UVMS: Effect of Disturbances, Coupling, and Joint-Flexibility on End-Effector Positioning

Published online by Cambridge University Press:  09 February 2021

Umer Hameed Shah Open the ORCID record for Umer Hameed Shah [Opens in a new window] ,
Mansour Karkoub ,
Deniz Kerimoglu  and
Hong-Du Wang
Umer Hameed Shah*
Affiliation:
Mechanical Engineering Department, Texas A&M University at Qatar, Doha, Qatar E-mails: mansour.karkoub@qatar.tamu.edu, deniz.kerimoglu@qatar.tamu.edu Mechanical Engineering Department, Khalifa University of Science and Technology, Abu Dhabi, UAE
Mansour Karkoub
Affiliation:
Mechanical Engineering Department, Texas A&M University at Qatar, Doha, Qatar E-mails: mansour.karkoub@qatar.tamu.edu, deniz.kerimoglu@qatar.tamu.edu
Deniz Kerimoglu
Affiliation:
Mechanical Engineering Department, Texas A&M University at Qatar, Doha, Qatar E-mails: mansour.karkoub@qatar.tamu.edu, deniz.kerimoglu@qatar.tamu.edu
Hong-Du Wang
Affiliation:
Mechanical Engineering Department, Texas A&M University at Qatar, Doha, Qatar E-mails: mansour.karkoub@qatar.tamu.edu, deniz.kerimoglu@qatar.tamu.edu College of Engineering, Ocean University of China, Qingdao, China E-mail: wanghongdu505@163.com
*
*Corresponding author. E-mail: umer.umershah@gmail.com
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Summary

This paper investigates the dynamics of an underwater vehicle-manipulator system (UVMS) consisting of a two-link flexible-joint manipulator affixed to an autonomous underwater vehicle. The quasi-Lagrange formulation is utilized in deriving a realistic mathematical model of the UVMS considering joints’ friction, hysteretic coupling between the joints and links, and the nonlinear hydrodynamic forces acting on the system, such as added mass, viscous damping, buoyancy, drag, and vortex-induced forces. Numerical simulations are performed to demonstrate the effects of hydrodynamic forces and system coupling between the vehicle and the manipulator and the joints and the links on the precise positioning of the end effector.

Keywords

Underwater vehicle-manipulator systemFluid–structure interactionUnderwater roboticsJoint friction and hysteresisVortex-induced vibrationsQuasi-Lagrange formulation
Type
Article
Information
Robotica , Volume 39 , Issue 11 , November 2021 , pp. 1952 - 1980
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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