论文标题
耦合效果：Fossen和Featherstone融合的实验验证以模拟Julia中的UVMS动力学
The Coupling Effect: Experimental Validation of the Fusion of Fossen and Featherstone to Simulate UVMS Dynamics in Julia
论文作者
论文摘要
在过去几年中，水下车辆操纵器系统（UVMS）变得越来越小，越来越小，在计划和控制系统时，考虑操纵器和车辆之间的耦合力变得越来越重要。已经提出了许多不同的模型，每种模型都使用不同的刚体动力学或流体动力学算法，或者声称要考虑对系统的不同动态效应，但是大多数人都没有对完整模型的实验验证，尤其是两个系统之间的耦合效果的情况。在这项工作中，我们返回一个模型，将Featherstone的刚性身体动力学算法与Fossen的水下动力学方程相结合，并使用Julia软件包arigidbodydynamics.jl。我们将模拟的输出与池试验的实验结果进行了比较，并与十个自由度UVM一起将触手可及的Alpha操纵器与Bluerov2整合在一起。我们验证模型的实用性，并确定其在研究动态耦合效果时的优势和缺点。
As Underwater Vehicle Manipulator Systems (UVMSs) have gotten smaller and lighter over the past years, it is becoming increasingly important to consider the coupling forces between the manipulator and the vehicle when planning and controlling the system. A number of different models have been proposed, each using different rigid body dynamics or hydrodynamics algorithms, or purporting to consider different dynamic effects on the system, but most go without experimental validation of the full model, and in particular, of the coupling effect between the two systems. In this work, we return to a model combining Featherstone's rigid body dynamics algorithms with Fossen's equations for underwater dynamics by using the Julia package RigidBodyDynamics.jl. We compare the simulation's output with experimental results from pool trials with a ten degree of freedom UVMS that integrates a Reach Alpha manipulator with a BlueROV2. We validate the model's usefulness and identify its strengths and weaknesses in studying the dynamic coupling effect.
