Site is still under construction. Math is still under review.
All masses and geomtry are preset as reported in the paper
The motor amplitudes are preset as reported in the paper
The motor frequencies are preset as reported in the paper
The most one can do is turn on or off the motors.
Notice that the motor behaves sinusoidally. After one full cycle, the motor switches sign to bring the device back to original position.
Viscous damping is preset as reported, and can only be turned on or off
Abstract
The project simulates the motion of a remotely operated underwater vehicle (ROV) due to robotic arm motion.
Norway has many active oilrigs and conducts related operations on a variety of structures in the North Sea. These structures often require subsea installation, observation, and maintenance. Research and technology that can improve the efficiency of these operations are of high interest for the nation.
An ROV can assist in these procedures. However, various factors affect the motion of the ROV. The ROV pilot must observe and adjust the vehicle and its motion, accordingly. Automation of this motion is a desired goal.
This paper analyzes the motion of an ROV induced by the motion of the robotic manipulators, motor torques and fluid buoyancy. The research uses a new method in engineering dynamics, the moving frame method, to conduct this analysis. Lie Group Theory and Cartan’s notion of moving frames are the foundation of this new method.
This research extends previous work in significant ways. This work accounts for the motor torques, fluid viscosity and the mass of the manipulators. Additionally, this work uses an improved numerical scheme to integrate the equations of motion.
The Web Graphics Library (WebGL) is a JavaScript API for rendering interactive 3D and 2D graphics within any compatible web browser without the use of plug-ins. This work visualizes the results, interactively, on 3D web pages, viewable on cell phones using WebGL.
The next stage will be the design of Autonomous Underwater Vehicles (AUV). AUVs beckon an era of Artificial Intelligence when machines think, communicate and learn. Rapidly deployable software implementations of mechanics will be essential. This paper demonstrates the Moving Frame Method leads us in this direction.