A Robotic Approach to Nonlinear Dynamic Modeling of Offshore Pipelaying Operations

In this paper a robotic approach is taken to develop a dynamic nonlinear model of an offshore pipeline installation. A compact dynamic representation of the pipe and its kinematics, for effective implementation in a computer code is developed. The pipe model is used in simulations to compute the dynamic tension from the pipe on the vessel. The pipe tension is commonly computed by quasi-static methods based on the catenary equation, which lack the dynamic behavior and flexural effects of the pipe. The model can also replace computationally slower finite element models in applications with real-time requirements. The model is suitable for many applications, such as real-time decision support, training simulators, motion prediction systems, Hardware-In-the-Loop (HIL) testing, operability analysis, control applications and pre-design of ships.