کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
8063554 1520641 2018 15 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Constrained multi-body dynamics for modular underwater robots - Theory and experiments
ترجمه فارسی عنوان
دینامیک چندگانهای محدود برای روبات های مدولار زیر آب - نظریه و آزمایش
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 149, 1 February 2018, Pages 358-372
نویسندگان
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