Keywords

underwater manipulator, hydrodynamics, dynamic modeling

Abstract

Hydrodynamic forces can be large and hence have a significant effect on the dynamic performance of underwater manipulation systems. this paper investigates these forces for a cylindrical single-link arm undergoing motions that are characteristics 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-dependent functions that depend on the distance traveled by the arm. A factor of four improvement in accuracy is demonstrated over standard constant-coefficient models.

Original Publication Citation

McLain, T. and Rock, S. Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model, International Journal of Robotics Research, vol. 17, no. 7, pp. 748-759, July 1998.