Underwater Robots - Gianluca Antonelli.pdf

A. Mathematical models
A.1 Introduction
This Appendix reports the parameters of the different mathematical models
used along the book. Forall the models the gravity vector, expressed in the
inertial frame, and the water density are given by:
g I =[0 0 9. 81 ] T m/s 2
ρ =1000 kg/m 3 .
A.2 Phoenix
The data of the vehicle Phoenix, developed at the Naval Postgraduate School
(Monterey, CA, USA), are given in [145]. These have been used as data of
the vehicle carrying amanipulator with 2, 3and 6DOFs in the simulations
of the dynamic control laws.
L = 5. 3 m vehicle length
m = 5454. 54 kg vehicle weight
r B G = [0 0 0. 061 ] T m
r B T
B = [0 0 0] m
W = 53400 N
B = 53400 N
I x = 2038 Nms 2
I y = 13587 Nms 2
I z = 13587 Nms 2
I xy = − 13. 58 Nms 2
I yz = − 13. 58 Nms 2
I xz = − 13. 58 Nms 2
where:
I O b =
⎡
⎣ I x I xy I xz
I xy I y I yz
I xz I yz I z
⎤
⎦ .
The inertia matrix, including the added mass terms, isgiven by:
G. Antonelli: Underwater Robots, 2nd Edition, STAR 2, pp. 239–245, 2006.
© Springer-Verlag Berlin Heidelberg 2006