Dynamic analysis of the UVMS: Effect of disturbances, coupling, and joint-flexibility on end-effector positioning

Umer Hameed Shah; Mansour Karkoub; Deniz Kerimoglu; Hong Du Wang

doi:10.1017/S0263574721000072

Dynamic analysis of the UVMS: Effect of disturbances, coupling, and joint-flexibility on end-effector positioning

Umer Hameed Shah
, Mansour Karkoub
, Deniz Kerimoglu
, Hong Du Wang

Texas A and M University at Qatar Education City
Khalifa University of Science and Technology
Ocean University of China

Research output: Contribution to journal › Article › peer-review

24 Scopus citations

Abstract

This paper investigates the dynamics of an underwater vehicle-manipulator system (UVMS) consisting of a two-link flexible-joint manipulator affixed to an autonomous underwater vehicle. The quasi-Lagrange formulation is utilized in deriving a realistic mathematical model of the UVMS considering joints' friction, hysteretic coupling between the joints and links, and the nonlinear hydrodynamic forces acting on the system, such as added mass, viscous damping, buoyancy, drag, and vortex-induced forces. Numerical simulations are performed to demonstrate the effects of hydrodynamic forces and system coupling between the vehicle and the manipulator and the joints and the links on the precise positioning of the end effector.

Original language	English
Pages (from-to)	1952-1980
Number of pages	29
Journal	Robotica
Volume	39
Issue number	11
DOIs	https://doi.org/10.1017/S0263574721000072
State	Published - 9 Nov 2021
Externally published	Yes

Keywords

Fluid-structure interaction
Joint friction and hysteresis
Quasi-Lagrange formulation
Underwater robotics
Underwater vehicle-manipulator system
Vortex-induced vibrations

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10.1017/S0263574721000072

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title = "Dynamic analysis of the UVMS: Effect of disturbances, coupling, and joint-flexibility on end-effector positioning",

abstract = "This paper investigates the dynamics of an underwater vehicle-manipulator system (UVMS) consisting of a two-link flexible-joint manipulator affixed to an autonomous underwater vehicle. The quasi-Lagrange formulation is utilized in deriving a realistic mathematical model of the UVMS considering joints' friction, hysteretic coupling between the joints and links, and the nonlinear hydrodynamic forces acting on the system, such as added mass, viscous damping, buoyancy, drag, and vortex-induced forces. Numerical simulations are performed to demonstrate the effects of hydrodynamic forces and system coupling between the vehicle and the manipulator and the joints and the links on the precise positioning of the end effector.",

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AU - Karkoub, Mansour

AU - Kerimoglu, Deniz

AU - Wang, Hong Du

N1 - Publisher Copyright: ©

PY - 2021/11/9

Y1 - 2021/11/9

N2 - This paper investigates the dynamics of an underwater vehicle-manipulator system (UVMS) consisting of a two-link flexible-joint manipulator affixed to an autonomous underwater vehicle. The quasi-Lagrange formulation is utilized in deriving a realistic mathematical model of the UVMS considering joints' friction, hysteretic coupling between the joints and links, and the nonlinear hydrodynamic forces acting on the system, such as added mass, viscous damping, buoyancy, drag, and vortex-induced forces. Numerical simulations are performed to demonstrate the effects of hydrodynamic forces and system coupling between the vehicle and the manipulator and the joints and the links on the precise positioning of the end effector.

AB - This paper investigates the dynamics of an underwater vehicle-manipulator system (UVMS) consisting of a two-link flexible-joint manipulator affixed to an autonomous underwater vehicle. The quasi-Lagrange formulation is utilized in deriving a realistic mathematical model of the UVMS considering joints' friction, hysteretic coupling between the joints and links, and the nonlinear hydrodynamic forces acting on the system, such as added mass, viscous damping, buoyancy, drag, and vortex-induced forces. Numerical simulations are performed to demonstrate the effects of hydrodynamic forces and system coupling between the vehicle and the manipulator and the joints and the links on the precise positioning of the end effector.

KW - Fluid-structure interaction

KW - Joint friction and hysteresis

KW - Quasi-Lagrange formulation

KW - Underwater robotics

KW - Underwater vehicle-manipulator system

KW - Vortex-induced vibrations

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DO - 10.1017/S0263574721000072

M3 - Article

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EP - 1980

JO - Robotica

JF - Robotica

IS - 11

ER -

Dynamic analysis of the UVMS: Effect of disturbances, coupling, and joint-flexibility on end-effector positioning

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Keywords

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