Underwater Robots - Gianluca Antonelli.pdf

= 0. 3 m vehicle radius
m = 125 kg vehicle weight
r B G = [0 0 0. 05 ] T r
m
B B
W
=
=
[0 0
1226
T
0] m
N
I x = 8 Nms2 I y = 8 Nms2 I z = 8 Nms2 I xy = 0 Nms2 I yz = 0 Nms2 I xz = 0 Nms2 A.5 9-DOF UVMS 243
The buoyancy B is computed considering the vehicle as spherical. The
hydrodynamic derivatives are given by:
X ˙u = − 62. 5 X u | u | = − 48
Y ˙v = − 62. 5 Y v | v | = − 48
Z ˙ω = − 62. 5 Z ω | ω | = − 48
K p = − 30 K p | p | = − 80
M q = − 30 M q | q | = − 80
N r = − 30 N r | r | = − 80
It can be observed that adiagonal structures of the matrices M A and D
is obtained.
According tosimple geometrical considerations, the following TCM is
observed:
⎡
s − s − s s 0 0 0 0
⎤
⎢ s
⎢ 0
B v = ⎢ 0
⎣
0
− s
0
0
0
− s
0
0
0
− s
0
0
0
0
− 1
l 1 s
l 1 s
0
− 1
l1s − l 1 s
0
− 1
− l 1 s
− l 1 s
0 ⎥
− 1 ⎥
− l 1 s ⎥
⎦
l1s l 2 − l 2 l 2 − l 2 0 0 0 0
with s =sin(π/4), l 1 =0. 381 mand l 2 =0. 508 m.
A.5 9-DOF UVMS
Details of the mathematical model of the vehicle carrying a3-link manipulator
used in the simulations of the interaction control chapter can be found
in [231], its main characteristics are reported in the following. The vehicle
considered isabox of2× 1 × 0 . 5m characterized by: