Development of a dynamic model of an underwater manipulator in identification form

Aleksandr Alekseevich Timoshenko; Aleksandr Valeryevich Zuev; Vladimir Fedorovich Filaretov

Aleksandr Alekseevich Timoshenko M.D. Ageev Institute of Marine Technology Problems FEB RAS http://orcid.org/0000-0003-1356-9602
Aleksandr Valeryevich Zuev Institute of Automation and Control Processes FEB RAS http://orcid.org/0000-0002-0934-6222
Vladimir Fedorovich Filaretov Institute of Automation and Control Processes FEB RAS http://orcid.org/0000-0001-8900-8081

Keywords: autonomous underwater vehicle, multi-link manipulator, dynamic model, added masses, hydrodynamic, identification

Abstract

The paper proposes a new method for constructing dynamic models of underwater manipulators installed on board autonomous underwater vehicles. These models are designed to identify unknown parameters of the interaction of an underwater manipulator with a viscous medium during its movement. A feature of these models is that unknown parameters, such as coefficients of added masses and damping coefficients, are included in the equations of dynamics linearly with respect to known kinematic coefficients. The correctness of the proposed models and the possibility of identifying these coefficients were verified during numerical simulation of the movement of an underwater vehicle with a manipulator mounted on it at various initial parameters of a viscous medium.