TY - GEN
T1 - Effect of manipulator’s joints flexibility on the positioning precision of the end-effector of the UVMS
AU - Shah, Umer Hameed
AU - Karkoub, Mansour
AU - Wang, Hong Du
AU - Kerimoglu, Deniz
N1 - Publisher Copyright:
Copyright © 2019 ASME.
PY - 2019
Y1 - 2019
N2 - This paper investigates the dynamics of an underwater vehicle-manipulator system (UVMS), which consists of a flexible-joint manipulator attached to an autonomous underwater vehicle (AUV). The quasi-Lagrange formulation was utilized in deriving the equations of motion of the UVMS, considering the nonlinear hydrodynamic forces acting on the system along with a nonlinear model of the flexible joints of the manipulator. Simulations were performed to investigate the effect of the vortex-induced vibrations (VIVs), transmitted from the AUV to the manipulator, and the flexibility of the joints of the manipulator on the precision positioning of the end-effector. Our investigations reveal that both the VIVs (transmitted from the AUV) and the flexibility of the joints significantly affect the positioning of the end-effector, particularly in operations involving high precision, for example, during the drilling or grasping tasks.
AB - This paper investigates the dynamics of an underwater vehicle-manipulator system (UVMS), which consists of a flexible-joint manipulator attached to an autonomous underwater vehicle (AUV). The quasi-Lagrange formulation was utilized in deriving the equations of motion of the UVMS, considering the nonlinear hydrodynamic forces acting on the system along with a nonlinear model of the flexible joints of the manipulator. Simulations were performed to investigate the effect of the vortex-induced vibrations (VIVs), transmitted from the AUV to the manipulator, and the flexibility of the joints of the manipulator on the precision positioning of the end-effector. Our investigations reveal that both the VIVs (transmitted from the AUV) and the flexibility of the joints significantly affect the positioning of the end-effector, particularly in operations involving high precision, for example, during the drilling or grasping tasks.
KW - Flexible-joint manipulator
KW - Quasi-Lagrange formulation
KW - UVMS
KW - Vortex-induced vibrations
UR - https://www.scopus.com/pages/publications/85076441585
U2 - 10.1115/DSCC2019-9077
DO - 10.1115/DSCC2019-9077
M3 - Conference contribution
AN - SCOPUS:85076441585
T3 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
BT - Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Y2 - 8 October 2019 through 11 October 2019
ER -