Abstract
Aiming at the daily inspection and emergency repair of a nuclear power pool a cable underwater robot equipped with operation equipment was designed. The disturbance effect of the tail cable on the robot was studied to control precisely the robot. On the basis of the dynamic model the motion (including surge, heave, roll and yaw motion) of a robot with and without a cable was respectively simulated by a numerical method. The disturbance effect of a cable was quantified. The results shown that the maximum longitudinal velocity and displacement respectively decreased by 8.4% and 4.7%, the maximum vertical velocity and displacement respectively decreased by 8.64% and 6.25, and the maximum angular velocity of roll and yaw was reduced by 16.6% and 13.3%. This simulation method above can be used to evaluate the disturb effect on a robot, and provided a basis for the improved design and control strategy.
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Li, Z., Li, J., Tao, J., Wang, W., Luo, Y. (2019). Analysis of Disturbance Effect of a Cable on Underwater Vehicle. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_65
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DOI: https://doi.org/10.1007/978-3-030-27532-7_65
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