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In this paper, the dynamics model of UVMS is established based on the Kane dynamics method for this kind of multi-rigid-body system. In the paper, the dynamics modeling process is deduced in detail with the example of a variable structure underwater operation robot, the expressions of the generalized active force and the generalized inertial force are given, and the constituents of the generalized active force are clarified. The validity of the model was verified by simulation of the robot’s direct motion through MATLAB. The modeling method is computationally efficient, conveniently implemented on a computer, and can be generalized for other multi-rigid-body systems.

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Dynamic Model of an Underwater Vehicle Manipulator System Using Kane’s Method

  • 会议论文

  • 发表日期：

    2025年

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  • Xiaomeng Liu,
  • Qiyan Tian,
  • Baoqi Zhai,
  • Dehao Li,
  • Qifeng Zhang,
  • Xiaohui Wang

摘要

In this paper, the dynamics model of UVMS is established based on the Kane dynamics method for this kind of multi-rigid-body system. In the paper, the dynamics modeling process is deduced in detail with the example of a variable structure underwater operation robot, the expressions of the generalized active force and the generalized inertial force are given, and the constituents of the generalized active force are clarified. The validity of the model was verified by simulation of the robot’s direct motion through MATLAB. The modeling method is computationally efficient, conveniently implemented on a computer, and can be generalized for other multi-rigid-body systems.