Proceedings of the Korea Committee for Ocean Resources and Engineering Conference (한국해양공학회:학술대회논문집)
- 2004.05a
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- Pages.204-209
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- 2004
Dynamic Manipulability Analysis of Underwater Robotic Arms with Joint Velocities
관절속도를 가지는 수중로봇팔의 동적 조작도 해석
- JEON BONG-HWAN (Ocean Development System Laboratory, KORDI) ;
- LEE JIHONG (Chungnam National University) ;
- LEE PAN-MOOK (Ocean Development System Laboratory, KORDI)
- Published : 2004.05.01
Abstract
This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.
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