A dynamic model of an underwater vehicle with a robotic manipulator using Kane's method

Development of a robust autonomous Underwater Robotic Vehicle (URV) is a key element to the exploitation of marine resources. An accurate dynamic model is important for both controller design and mission simulation, regardless of the control strategy employed. In this paper, a dynamic model for an underwater vehicle with an n-axis robot arm is developed based on Kane’s method. The technique provides a direct method for incorporating external environmental forces into the model. The model developed in this paper includes four major hydrodynamic forces: added mass, profile drag, fluid acceleration, and buoyancy. The model derived is a closed form solution which can be utilized in modern model-based control schemes.