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TECHNICAL PAPERS

# A Composite Rigid Body Algorithm for Modeling and Simulation of an Underwater Vehicle Equipped With Manipulator Arms

[+] Author and Article Information

Omid Omidi

Civil Engineering Department, Amir Kabir University of Technology, Tehran, 15875-4413, Irano.omidi@aut.ac.ir

Ali Meghdari

Center of Excellence in Design, Robotics and Automation (CEDRA), Sharif University of Technology, Tehran, 11365-9567, Iranmeghdari@sharif.edu

Gholamreza Vossoughi

Center of Excellence in Design, Robotics and Automation (CEDRA), Sharif University of Technology, Tehran, 11365-9567, Iranvossough@sharif.edu

This ROV has been constructed in the Center of Excellence in Design, Robotics and Automation (CEDRA), Mechanical Engineering Department, Sharif University of Technology.

J. Offshore Mech. Arct. Eng 128(2), 119-132 (Aug 23, 2005) (14 pages) doi:10.1115/1.2185682 History: Received March 30, 2005; Revised August 23, 2005

## Abstract

In this paper, modeling and simulation of an underwater vehicle equipped with manipulator arms, using a composite rigid body algorithm, will be discussed. Because of the increasing need for unmanned underwater vehicles (UUVs) in oil and gas projects in the Persian Gulf, for doing operations such as inspection of offshore jackets, subsea pipelines, and submarine cables, and also pre-installation survey and post-laid survey of submarine pipelines and cables, design and construction of “SROV” was developed in Sharif University of Technology, and at the design stage behavior of the underwater vehicles was studied. In this paper, an efficient dynamic simulation algorithm is developed for an UUV equipped with $m$ manipulators so that each of them has $N$ degrees of freedom. In addition to the effects of the mobile base, the various hydrodynamic forces exerted on these systems in an underwater environment are also incorporated into the simulation. The effects modeled in this work are added mass, viscous drag, fluid acceleration, and buoyancy forces. For drag forces, the emphasis here is on the modeling of the pressure drag. Recent advances in underwater position and velocity sensing enable real-time centimeter-precision position measurements of underwater vehicles. With these advances in position sensing, our ability to precisely control the hovering and low-speed trajectory of an underwater vehicle is limited principally by our understanding of the vehicle’s dynamics and the dynamics of the bladed thrusters commonly used to actuate dynamically positioned marine vehicles. So the dynamics of thrusters are developed and an appropriate mapping matrix dependent on the position and orientation of the thrusters on the vehicle is used to calculate resultant forces and moments of the thrusters on the center of gravity of the vehicle. It should be noted that hull-propeller and propeller-propeller interactions are considered in the modeling too. Finally, the results of the simulations, for an underwater vehicle equipped with 1 two degrees of freedom manipulator, are presented and discussed in detail.

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## Figures

Figure 1

SROV remotely operated underwater vehicle (see Ref. 14)

Figure 2

DTS model for a legged vehicle with a body joint (see Ref. 18)

Figure 3

Efficient coordinate system assignment and transformations between the reference member and each chain (see Ref. 18)

Figure 4

Drag force on a circular cylinder (see Ref. 4)

Figure 5

Lift, drag, thrust, and hydrodynamic torque on a marine propeller (see Ref. 11)

Figure 6

Velocity and acceleration of the vehicle in the surge direction when applying 100N force in the surge direction

Figure 7

Velocity and acceleration of the vehicle in the surge direction when applying 50N force in the sway direction

Figure 8

Velocity and acceleration of the vehicle in the sway direction when applying 50N force in the sway direction

Figure 9

Yaw position and angular velocity of the vehicle when applying 50N force in the sway direction

Figure 10

Velocity and acceleration of the vehicle in the surge direction when applying 50N force in the heave direction

Figure 11

Velocity and acceleration of the vehicle in the heave direction when applying 50N force in the heave direction

Figure 12

Pitch position and angular velocity of the vehicle when applying 50N force in the heave direction

Figure 13

Velocity and acceleration of the vehicle in the surge direction when applying 5Nm moment about the yaw axis

Figure 14

Velocity and acceleration of the vehicle in the sway direction when applying 5Nm moment about the yaw axis

Figure 15

Yaw position and angular velocity of the vehicle when applying 5Nm moment about the yaw axis

Figure 16

Yaw position and angular velocity of the vehicle when applying 0.5Nm torque on the second joint

Figure 17

Position and angular velocity of the first joint (q2,q̇2) when applying 0.5Nm torque on the second joint

Figure 18

Position and angular velocity of the second joint (q3,q̇3) when applying 0.5Nm torque on the second joint

Figure 19

Simulated and actual thrust in a current control thruster with reversing step input

Figure 20

Velocity and acceleration of the vehicle in the surge direction when actuating two longitudinal thrusters according to Fig. 1

Figure 21

Velocity and acceleration of the vehicle in the surge direction, when actuating two longitudinal thrusters according to Fig. 1, considering the effect of the vehicle motion

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