Commenced in January 2007
Paper Count: 30309
Modeling and Simulation of Underwater Flexible Manipulator as Raleigh Beam Using Bond Graph
Abstract:This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the underwater robot is analyzed, which is the main focus of this investigation. The control of robot trajectory is not discussed in this paper. Simulation is performed using Symbol Shakti software.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1108088Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2134
 K. Ghosh, (1990), “Dynamics and Robust Control of Robotic Systems: A Bond Graph Approach”, PhD thesis, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur.
 Amalendu Mukherjee et al. (2006), “Bond graph in modeling, simulation and fault identification”, I.K international publishing house Pvt. Ltd., New Delhi.
 Breedveld, P. C. and Dauphin-Tanguy, G., (1992), “Bond Graphs for Engineers”, North-Holland, Amsterdam.
 Brown, F. T., (2001), “Engineering System Dynamics”, Marcel Dekker, Inc, New York.
 Gawthrop, P. and Smith, L., (1996), “MetaModeling: Bond graphs and Dynamic Systems”, Prentice-Hall.
 Hyeong-Dong Kim, Seung-Woo Byun, Seung-Keon Lee, Joon-Young Kim, Taek Soo Jang and Hang S. Choi, (2011), “Mathematical Modeling and Experimental Test of Manta-type UUV”, IEEE.
 Karnopp, D. C., Rosenberg, R. C. and Margolis, D. L., (1990), “System Dynamics: A Unified Approach”, John-Wiley and Sons Inc., USA.
 Kedar S. Dixit and P. M. Pathak, (2007), “Modeling and simulation of 3 DOF underwater robot”, Recent Advances in Design Dynamics and Manufacturing (NCDDM-2007), 137-145.
 Ming-jun Zhang, Zhen-zhongChu (2012), “Adaptive sliding mode control based on local recurrent neural networks for underwater robot”, J. ocean engineering 45 (2012) 56-62.
 Mukherjee, A. and Karmakar, R., (2000), “Modeling and Simulation of engineering System through Bond Graph”, Narosa publishing House, New Delhi, reprinted by CRC press for North America and by Alpha Science for Europe,PP,203-207.
 Periasamy T., Asokan T., Singaperumal M.,(2008), “Controller Design for Manipulator Trajectory Control of an AUV- Manipulator System” Third International Conference on Industrial and Information Systems, Kharagpur, INDIA, Paper Identification Number 474, 1-6.
 Santha kumar Mohan, Jinwhan Kim (2012), “Indirect adaptive control of an autonomous underwater vehicle-manipulator system for underwater manipulation tasks”, J. ocean engineering 54 (2012) 233-243.
 Side Zhao and Junku Yuh, (2005), “Experimental Study on Advanced Underwater Robot Control”, IEEE Transactions on Robotics, Vol. 21, NO. 4.
 Symbol Sonata, (2013), “http://www.htcinfo.com/, High-Tech Consultants”, IIT Kharagpur.
 Yuh J., (1990), “Modeling and Control of Underwater Robotic Vehicles”, Transactions on Systems, Man, and Cybernetics, Vol. 20, No. 6, 1475-1483.
 Zool H. Ismail (2012), “Tracking Control Scheme for Multiple Autonomous Underwater Vehicles Subject to Union of Boundaries”, Procedia Engineering 41 (2012), 1176 – 1182.