Dynamic Modeling of Underwater Manipulator and Its Simulation
High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work
[1] Andrew, T 1992, Design Issues for Underwater Manipulator Systems,
Department of Mechanical Engineering, University of Technology,
Loughborough, Leicestershire.
[2] Anthony, M 2008, The Maritime Engineering Reference Book: A Guide
To Ship Design, Construction and Operation, Elsevier USA.
[3] Bahleda, M 2002, Remotely Operated Vehicle (ROV) Technology:
Applications and Advancements at Hydro Facilities, HCI Publications,
California.
[4] Bruno, S &Oussama, K 2007, Springer Handbook of Robotics, Springer,
Berlin.
[5] Craig, John, J 2005, Introduction to Robotics: Mechanics and Control,
Upper Saddle River.
[6] Christopher von, A 2003, Autonomous Underwater Vehicles, Woods
Hole Oceanographic Institution.
[7] Christ, D &Wernli, L 2007, TheROv Manual: A User Guide for
Observation Class Remotely Operated Vehicles.
[8] Dana, Y, Hagen, S & David, D 1991, Design and Performance
Evaluation of an Actively for Full-Ocean Depth, Department of Applied
Ocean Physics and Engineering Woods Hole Oceanographic Institution.
[9] Denavit J. and Hartenberg, R.S. 1955, "A kinematic notation for lowerpair
mechanisms based on matrices." Trans ASME J. Appl. Mech,
23:215-221.
[10] Gere, J & Timoshenko, S 1999, Mechanics of Materials, 3rdEdn,
DuaHua Printing Press Co., Hong Kong.
[11] Gianluca, A 2006, Underwater Robots: Motion and Force Control of
Vehicle-Manipulator Systems, Springer-Verlag, Berlin Heidelberg.
[12] Hartenberg, R. S., and Denavit J. 1964, Kinematic Synthesis of Linkages.
New York: McGraw-Hill, on-line through KMODDL.
[13] IrfanAbd, R, Surina Mat S &Mohd Rizal, A 2007, Theory and Design
Issues of Underwater Manipulator, International Conference on Control,
Instrumentation and Mechatronics Engineering (CIM-07), Malaysia.
[14] Jee-Hwan, R & Dong-Soo, K 2001, Control of Underwater Manipulators
Mounted on an ROV Using Base Force Information, International
conference on Robotics & Automation.
[15] J. YUH, 2000, Design and Control of Autonomous Underwater Robots:
A Survey, Kluwer Academic Publishers, Netherlands.
[16] Koray, K 2007, Modelling and motion Simulation of an Underwater
Vehicle, Middle East Technical University.
[17] Louis, A 2004, Design, Modelling and Control of an Autonomous
Underwater Vehicle, The University of Western Australia.
[18] Lauren, C 2006, Development of a Low-cost Underwater Manipulator,
Massachusetts Institute of Technology.
[19] Michel, B, Ryan, F, Philip, R & Amelia, S 2010, Latis II Underwater
remotely Operated Vehicle Technical Report, University of Maine.
[20] Miles, P & Carroll, T 2002, Build your Own Combat Robot, McGraw-
Hill, Newyork.
[21] Roy, B & Louis, R 1998, Concepts in Submarine Design, Cambridge
University Press, United Kingdom.
[22] Rui, G, Alexandre, S, Sergio, F, Alfredo, M, Joao, S& Fernando, P, A
New ROV Design: Issues On Low Drag AND Mechanical Symmetry,
Underwater Systems and Technology Laboratory, Porto.
[23] Sabiha, W & Pushkin, K 2011, Autonomous Underwater Vehicles:
Modeling, Control Design, and Simulation, CRC Press, New York.
[24] Lagrange theorem. 2010, viewed July 1
2012,<http://www.slideshare.net/troywoo/rev-chapter-4-mar23rd>.
[25] Interlink Electronics 2010, FSR 400 Data Sheet, viewed September 3
2012, <http://www.trossenrobotics.com/productdocs/2010-10-26-
DataSheet-FSR400-Layout2.pdf>.
[26] Interlink Electronics 2010, Interlink ElectronicsFSR™Force Sensing
Resistors™ Integration Guide, viewed September 42012,
<http://akizukidenshi.com/download/ds/interlinkelec/94-
00004+Rev+B%20FSR%20Integration%20Guide.pdf>.
[27] Timothy, WM, and Stephen MR 1998, 'Development and Experimental
Validation of an Underwater Manipulator Hydrodynamic Model', The
International Journal of Robotics Research, vol. 17 no. 7, 748-759,
viewed 3 July 2012, <http://www.stanford.edu/group/arl/cgibin/
drupal/sites/default/files/public/publications/McLainR%2098.pdf>.
[28] Fossen, TI 2002, Marine Control Systems, Guidance, Navigation, and
Control of Ships, Rigs and Underwater Vehicles. Marine Cybernetics,
Trondheim, Norway.
[1] Andrew, T 1992, Design Issues for Underwater Manipulator Systems,
Department of Mechanical Engineering, University of Technology,
Loughborough, Leicestershire.
[2] Anthony, M 2008, The Maritime Engineering Reference Book: A Guide
To Ship Design, Construction and Operation, Elsevier USA.
[3] Bahleda, M 2002, Remotely Operated Vehicle (ROV) Technology:
Applications and Advancements at Hydro Facilities, HCI Publications,
California.
[4] Bruno, S &Oussama, K 2007, Springer Handbook of Robotics, Springer,
Berlin.
[5] Craig, John, J 2005, Introduction to Robotics: Mechanics and Control,
Upper Saddle River.
[6] Christopher von, A 2003, Autonomous Underwater Vehicles, Woods
Hole Oceanographic Institution.
[7] Christ, D &Wernli, L 2007, TheROv Manual: A User Guide for
Observation Class Remotely Operated Vehicles.
[8] Dana, Y, Hagen, S & David, D 1991, Design and Performance
Evaluation of an Actively for Full-Ocean Depth, Department of Applied
Ocean Physics and Engineering Woods Hole Oceanographic Institution.
[9] Denavit J. and Hartenberg, R.S. 1955, "A kinematic notation for lowerpair
mechanisms based on matrices." Trans ASME J. Appl. Mech,
23:215-221.
[10] Gere, J & Timoshenko, S 1999, Mechanics of Materials, 3rdEdn,
DuaHua Printing Press Co., Hong Kong.
[11] Gianluca, A 2006, Underwater Robots: Motion and Force Control of
Vehicle-Manipulator Systems, Springer-Verlag, Berlin Heidelberg.
[12] Hartenberg, R. S., and Denavit J. 1964, Kinematic Synthesis of Linkages.
New York: McGraw-Hill, on-line through KMODDL.
[13] IrfanAbd, R, Surina Mat S &Mohd Rizal, A 2007, Theory and Design
Issues of Underwater Manipulator, International Conference on Control,
Instrumentation and Mechatronics Engineering (CIM-07), Malaysia.
[14] Jee-Hwan, R & Dong-Soo, K 2001, Control of Underwater Manipulators
Mounted on an ROV Using Base Force Information, International
conference on Robotics & Automation.
[15] J. YUH, 2000, Design and Control of Autonomous Underwater Robots:
A Survey, Kluwer Academic Publishers, Netherlands.
[16] Koray, K 2007, Modelling and motion Simulation of an Underwater
Vehicle, Middle East Technical University.
[17] Louis, A 2004, Design, Modelling and Control of an Autonomous
Underwater Vehicle, The University of Western Australia.
[18] Lauren, C 2006, Development of a Low-cost Underwater Manipulator,
Massachusetts Institute of Technology.
[19] Michel, B, Ryan, F, Philip, R & Amelia, S 2010, Latis II Underwater
remotely Operated Vehicle Technical Report, University of Maine.
[20] Miles, P & Carroll, T 2002, Build your Own Combat Robot, McGraw-
Hill, Newyork.
[21] Roy, B & Louis, R 1998, Concepts in Submarine Design, Cambridge
University Press, United Kingdom.
[22] Rui, G, Alexandre, S, Sergio, F, Alfredo, M, Joao, S& Fernando, P, A
New ROV Design: Issues On Low Drag AND Mechanical Symmetry,
Underwater Systems and Technology Laboratory, Porto.
[23] Sabiha, W & Pushkin, K 2011, Autonomous Underwater Vehicles:
Modeling, Control Design, and Simulation, CRC Press, New York.
[24] Lagrange theorem. 2010, viewed July 1
2012,<http://www.slideshare.net/troywoo/rev-chapter-4-mar23rd>.
[25] Interlink Electronics 2010, FSR 400 Data Sheet, viewed September 3
2012, <http://www.trossenrobotics.com/productdocs/2010-10-26-
DataSheet-FSR400-Layout2.pdf>.
[26] Interlink Electronics 2010, Interlink ElectronicsFSR™Force Sensing
Resistors™ Integration Guide, viewed September 42012,
<http://akizukidenshi.com/download/ds/interlinkelec/94-
00004+Rev+B%20FSR%20Integration%20Guide.pdf>.
[27] Timothy, WM, and Stephen MR 1998, 'Development and Experimental
Validation of an Underwater Manipulator Hydrodynamic Model', The
International Journal of Robotics Research, vol. 17 no. 7, 748-759,
viewed 3 July 2012, <http://www.stanford.edu/group/arl/cgibin/
drupal/sites/default/files/public/publications/McLainR%2098.pdf>.
[28] Fossen, TI 2002, Marine Control Systems, Guidance, Navigation, and
Control of Ships, Rigs and Underwater Vehicles. Marine Cybernetics,
Trondheim, Norway.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:60870", author = "Ruiheng Li and Amir Parsa Anvar and Amir M. Anvar and Tien-Fu Lu", title = "Dynamic Modeling of Underwater Manipulator and Its Simulation", abstract = "High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work
", keywords = "Manipulator System, Robot, AUV, Denavit-
Hartenberg method Lagrange theorem, MALTAB, ADAMS, Direct
and Inverse Kinematics, Dynamics, PD Control-law, Interlink Force
Sensing ResistorTM, intelligent artificial skin system.", volume = "6", number = "12", pages = "2811-10", }
