Modeling and Simulation of Underwater Flexible Manipulator as Raleigh Beam Using Bond Graph
This paper presents modeling and simulation of
flexible robot in an underwater environment. The underwater
environment completely contrasts with ground or space environment.
The robot in an underwater situation is subjected to various dynamic
forces like buoyancy forces, hydrostatic and hydrodynamic forces.
The underwater robot is modeled as Rayleigh beam. The developed
model further allows estimating the deflection of tip in two
directions. The complete dynamics of the underwater robot is
analyzed, which is the main focus of this investigation. The control of
robot trajectory is not discussed in this paper. Simulation is
performed using Symbol Shakti software.
[1] K. Ghosh, (1990), “Dynamics and Robust Control of Robotic Systems:
A Bond Graph Approach”, PhD thesis, Department of Mechanical
Engineering, Indian Institute of Technology, Kharagpur.
[2] Amalendu Mukherjee et al. (2006), “Bond graph in modeling,
simulation and fault identification”, I.K international publishing house
Pvt. Ltd., New Delhi.
[3] Breedveld, P. C. and Dauphin-Tanguy, G., (1992), “Bond Graphs for
Engineers”, North-Holland, Amsterdam.
[4] Brown, F. T., (2001), “Engineering System Dynamics”, Marcel Dekker,
Inc, New York.
[5] Gawthrop, P. and Smith, L., (1996), “MetaModeling: Bond graphs and
Dynamic Systems”, Prentice-Hall.
[6] Hyeong-Dong Kim, Seung-Woo Byun, Seung-Keon Lee, Joon-Young
Kim, Taek Soo Jang and Hang S. Choi, (2011), “Mathematical
Modeling and Experimental Test of Manta-type UUV”, IEEE.
[7] Karnopp, D. C., Rosenberg, R. C. and Margolis, D. L., (1990), “System
Dynamics: A Unified Approach”, John-Wiley and Sons Inc., USA.
[8] Kedar S. Dixit and P. M. Pathak, (2007), “Modeling and simulation of 3
DOF underwater robot”, Recent Advances in Design Dynamics and
Manufacturing (NCDDM-2007), 137-145.
[9] Ming-jun Zhang, Zhen-zhongChu (2012), “Adaptive sliding mode
control based on local recurrent neural networks for underwater robot”,
J. ocean engineering 45 (2012) 56-62.
[10] Mukherjee, A. and Karmakar, R., (2000), “Modeling and Simulation of
engineering System through Bond Graph”, Narosa publishing House,
New Delhi, reprinted by CRC press for North America and by Alpha
Science for Europe,PP,203-207.
[11] Periasamy T., Asokan T., Singaperumal M.,(2008), “Controller Design
for Manipulator Trajectory Control of an AUV- Manipulator System”
Third International Conference on Industrial and Information Systems,
Kharagpur, INDIA, Paper Identification Number 474, 1-6.
[12] Santha kumar Mohan, Jinwhan Kim (2012), “Indirect adaptive control of
an autonomous underwater vehicle-manipulator system for underwater
manipulation tasks”, J. ocean engineering 54 (2012) 233-243.
[13] Side Zhao and Junku Yuh, (2005), “Experimental Study on Advanced
Underwater Robot Control”, IEEE Transactions on Robotics, Vol. 21,
NO. 4.
[14] Symbol Sonata, (2013), “http://www.htcinfo.com/, High-Tech
Consultants”, IIT Kharagpur.
[15] Yuh J., (1990), “Modeling and Control of Underwater Robotic
Vehicles”, Transactions on Systems, Man, and Cybernetics, Vol. 20, No.
6, 1475-1483.
[16] Zool H. Ismail (2012), “Tracking Control Scheme for Multiple
Autonomous Underwater Vehicles Subject to Union of Boundaries”,
Procedia Engineering 41 (2012), 1176 – 1182.
[1] K. Ghosh, (1990), “Dynamics and Robust Control of Robotic Systems:
A Bond Graph Approach”, PhD thesis, Department of Mechanical
Engineering, Indian Institute of Technology, Kharagpur.
[2] Amalendu Mukherjee et al. (2006), “Bond graph in modeling,
simulation and fault identification”, I.K international publishing house
Pvt. Ltd., New Delhi.
[3] Breedveld, P. C. and Dauphin-Tanguy, G., (1992), “Bond Graphs for
Engineers”, North-Holland, Amsterdam.
[4] Brown, F. T., (2001), “Engineering System Dynamics”, Marcel Dekker,
Inc, New York.
[5] Gawthrop, P. and Smith, L., (1996), “MetaModeling: Bond graphs and
Dynamic Systems”, Prentice-Hall.
[6] Hyeong-Dong Kim, Seung-Woo Byun, Seung-Keon Lee, Joon-Young
Kim, Taek Soo Jang and Hang S. Choi, (2011), “Mathematical
Modeling and Experimental Test of Manta-type UUV”, IEEE.
[7] Karnopp, D. C., Rosenberg, R. C. and Margolis, D. L., (1990), “System
Dynamics: A Unified Approach”, John-Wiley and Sons Inc., USA.
[8] Kedar S. Dixit and P. M. Pathak, (2007), “Modeling and simulation of 3
DOF underwater robot”, Recent Advances in Design Dynamics and
Manufacturing (NCDDM-2007), 137-145.
[9] Ming-jun Zhang, Zhen-zhongChu (2012), “Adaptive sliding mode
control based on local recurrent neural networks for underwater robot”,
J. ocean engineering 45 (2012) 56-62.
[10] Mukherjee, A. and Karmakar, R., (2000), “Modeling and Simulation of
engineering System through Bond Graph”, Narosa publishing House,
New Delhi, reprinted by CRC press for North America and by Alpha
Science for Europe,PP,203-207.
[11] Periasamy T., Asokan T., Singaperumal M.,(2008), “Controller Design
for Manipulator Trajectory Control of an AUV- Manipulator System”
Third International Conference on Industrial and Information Systems,
Kharagpur, INDIA, Paper Identification Number 474, 1-6.
[12] Santha kumar Mohan, Jinwhan Kim (2012), “Indirect adaptive control of
an autonomous underwater vehicle-manipulator system for underwater
manipulation tasks”, J. ocean engineering 54 (2012) 233-243.
[13] Side Zhao and Junku Yuh, (2005), “Experimental Study on Advanced
Underwater Robot Control”, IEEE Transactions on Robotics, Vol. 21,
NO. 4.
[14] Symbol Sonata, (2013), “http://www.htcinfo.com/, High-Tech
Consultants”, IIT Kharagpur.
[15] Yuh J., (1990), “Modeling and Control of Underwater Robotic
Vehicles”, Transactions on Systems, Man, and Cybernetics, Vol. 20, No.
6, 1475-1483.
[16] Zool H. Ismail (2012), “Tracking Control Scheme for Multiple
Autonomous Underwater Vehicles Subject to Union of Boundaries”,
Procedia Engineering 41 (2012), 1176 – 1182.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:70624", author = "Sumit Kumar and Sunil Kumar and Chandan Deep Singh", title = "Modeling and Simulation of Underwater Flexible Manipulator as Raleigh Beam Using Bond Graph", abstract = "This paper presents modeling and simulation of
flexible robot in an underwater environment. The underwater
environment completely contrasts with ground or space environment.
The robot in an underwater situation is subjected to various dynamic
forces like buoyancy forces, hydrostatic and hydrodynamic forces.
The underwater robot is modeled as Rayleigh beam. The developed
model further allows estimating the deflection of tip in two
directions. The complete dynamics of the underwater robot is
analyzed, which is the main focus of this investigation. The control of
robot trajectory is not discussed in this paper. Simulation is
performed using Symbol Shakti software.", keywords = "Bond graph modeling, dynamics. modeling,
Rayleigh beam, underwater robot.", volume = "9", number = "8", pages = "1508-4", }
