Modeling and Simulation of Underwater Manipulator

Abstract

In recent years, applications of articulated manipulators have been enlarged to ultimate environment such as underwater and space.
Simulation system for design and control of industrial manipulators has been developed in many laboratories, and some high-speed method of calculation of inverse dynamics of serial manipulators has been proposed.
This paper is concerned with dynamic simulation and modeling of underwater articulated manipulators.
Dynamics of these manipulators is formulated to evaluate influence of added mass tensor, added inertia tensor, drag and lift of each arm according to classical Newton-Euler mechanics.
Moreover, by generalizing this model, we can discuss the dynamics of a manipulator with dual arm and can simulate some constrained motion of end-effector.
As an example of inverse dynamics, force and moment of a 9 d. o. f. manipulator with dual arm are analized
As an example of direct dynamics, hybrid-control of both force and position of a 6 d. o. f. manipulator is simulated.