STOCHASTIC DYNAMICAL MODELING OF AN OPEN-CHAIN MANIPULATOR IN A FLUIDENVIRONMENT

This paper presents the state equations of the stochastic dynamics of an open-chain manipulator in a fluid environment. An algorithm for the discretization of the state equations is also given, as well as the p ropagation equations needed to perform the command of the manipulator in a non-deterministic fluid environment. Results of some preliminary simulations show that errors between nominal trajectories computed wit hout taking into account the stochasticity of the interaction between the fluid and the manipulator, and the actual trajectories, could be i mportant. This paper thus shows how the interaction between a fluid an d a manipulator can fully be taken into account in the control of mani pulators. (C) 1996 Elsevier Science Ltd.