Constrained multi-body dynamics for modular underwater robots — Theory and experiments
Journal article
Submitted version
Permanent lenke
http://hdl.handle.net/11250/2498388Utgivelsesdato
2018Metadata
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- Institutt for marin teknikk [3397]
- Institutt for teknisk kybernetikk [3658]
- Publikasjoner fra CRIStin - NTNU [37175]
Sammendrag
This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most significant dynamics. The proposed modelling method is based on active constraint enforcement by utilising the Udwadia-Kalaba Formulation for multi-body dynamics. The required description of a rigid constraint is defined, derived and implemented into a system of interconnected sub-models. An exhaustive experimental validation is conducted on a two-vehicle system, including towing tank tests on a BlueROV vehicle to determine the model parameters. The applicability of the modelling approach is assessed by comparing experimental data to simulations of an equivalent model synthesised using the proposed theory.