Efficient Modelling Methodology for Reconfigurable Underwater Robots

Abstract

This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N , possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented by quaternions.

Validation of multi-body modelling methodology for reconfigurable underwater robots

“…This section will provide the theoretical background for the modelling method as was presented in [13].…”

“…The derivation of the constraint matrix A and the constraint vector b to acceleration level is described in [13] and hence only the result and main points are given here. For the positional constraint c 1 between two vehicles A and B the A 1 matrix is shown below…”

“…The modelling approach is based on an application of the Udwadia-Kalaba Equation as presented [13]. The testing and verification of the dynamic model is performed through experiments in a wet lab and the results are compared with simulations.…”

Constrained multi-body dynamics for modular underwater robots — Theory and experiments

“…Kelasidi et al (2014b), Kelasidi et al (2014a) and Kelasidi et al (2015) used multi-body dynamics to synthesize and validate an amphibious underwater snake model. This article extends and validates the multi-body dynamic modelling approach in Nielsen et al (2016a) and Nielsen et al (2016b), which using the Udwadia-Kalaba formulation Udwadia and Phohomsiri (2007). This article first presents the theoretical approach used to model a system of re-configurable underwater robots.…”

“…The notation adopted in this paper is the SNAME as presented in Fossen (2011) and used in Nielsen et al (2016a).…”