The analysis of dynamic coupling for Intervention-AUV via a hybrid space approach

There is a recognized need for the dynamic coupling effect between the vehicle and manipulator under the hydrodynamic. The key contribution of this paper is to propose a hybrid approach for investigating this manipulation performance under the hydrodynamic. The payload-based base centroid virtual manipulator (BCVM) theory is firstly proposed for Intervention-Autonomous Underwater Vehicle (I-AUV) with external and physical constraints, then in order to explicitly manifest the relationship of angular velocity between AUV and manipulator or end-effector, the payload-BCVM is employed to effective reconstruct system kinematic. Based on the dissimilar constraints, the attitude and position vector are decomposed: firstly, the orientation of AUV body perturbed by manipulator is analyzed in the velocity-level because of the non-holonomic constraint. Then, the hydrodynamic coupling factors (HCFs) in joint-and task space are used to obtain relative-small disturbance within the admissible motion sets. Secondly, a position-level approach is undertaken within the holonomic constraint, and payload coupled space (PCS) is designed to illustrate the workspace with the different targets. Furthermore, a free coupled space (FCS) is provided evaluate the spatial accessibility of the system. The numerical simulations based our torque-type AUV with three joints was carried out. Results showed that this coupling effect is reduced slightly by the hydrodynamic, obviously increases with payload and is reflected in the different joints movement. This work is useful for practical application with I-AUV, e.g., the installation, tracking control, coordination motion planning.