A DYNAMIC-MODEL OF AN UNDERWATER VEHICLE WITH A ROBOTIC MANIPULATOR USING KANES METHOD

Development of a robust autonomous Underwater Robotic Vehicle (URV) is a key element to the exploitation of marine resources. An accurate dy namic model is important for both controller design and mission simula tion, regardless of the control strategy employed. In this paper, a dy namic model for an underwater vehicle with an n-axis robot arm is deve loped based on Kane's method. The technique provides a direct method f or incorporating external environmental forces into the model. The mod el developed in this paper includes four major hydrodynamic forces: ad ded mass, profile drag, fluid acceleration, and buoyancy. The model de rived is a closed form solution which can be utilized in modem model-b ased control schemes.