Development of a Dynamic Model of an Underwater Manipulator in Identification Form

The paper proposes a new method for constructing dynamic models of underwater manipulators installed on board autonomous underwater vehicles. These models are designed to identify unknown parameters of the interaction of an underwater manipulator with a viscous medium during its movement. A feature of these models is that unknown parameters, including coefficients of added masses and damping coefficients, are included in the equations of dynamics of the manipulator linearly relative to known kinematic parameters. These coefficients can be determined using classical identification methods such as the least squares method or methods based on the application of the linear Kalman filter. The identified parameters can then be used in adaptive underwater manipulator control systems to implement automatic execution of underwater technological operations. To do this, the identification procedure must be carried out in close proximity to the intended working area of the underwater vehicle with a manipulator, where the desired coefficients can be considered constant. The correctness of the proposed models and the possibility of identifying these coefficients were verified during mathematical simulation of the movement of an underwater vehicle with a manipulator mounted on it at various initial parameters of a viscous medium.