The International Journal of Robotics Research · 1998 · 58 citations · 9 references
EngineeringMechanical EngineeringRobotics EngineeringMarine RoboticsRoboticsUnderwater RoboticsHydrodynamic ResponseManipulator DynamicsMarine HydrodynamicsShip HydrodynamicsDynamic Performance AnalysisExperimental ValidationHydrodynamic AnalysisHydrodynamic Force ModelingHydrodynamic Model TestingHydrodynamic ModelingUnderwater ManipulationUnderwater Manipulator Arms
Hydrodynamic forces are large and significantly affect the dynamic performance of underwater manipulators. The study investigates these forces on a cylindrical single‑link arm executing motions typical of robotic manipulators. Using flow visualization, theoretical analysis, and experimental measurements, the authors develop a model with state‑dependent drag and added‑mass coefficients that vary with the arm’s travel distance. The model achieves a four‑fold improvement in accuracy compared to standard constant‑coefficient models.
Hydrodynamic forces can be large, and hence have a significant effect on the dynamic performance of underwater manipulation sys tems. This paper investigates these forces for a cylindrical single- link arm undergoing motions that are characteristic of a robotic manipulator. Based on flow visualization, theoretical analysis, and experimental measurements, a new model is developed that describes these forces. This model differs from previous models in that the drag and added mass coefficients are state-dependentfunctions that depend on the distance traveled by the arm. A factor of four improve ment in accuracy is demonstrated over standard constant-coefficient models.
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