2016 International Symposium on Nonlinear Theory and Its Applications, NOLTA2016, Yugawara, Japan, November 27th-30th, 2016 Modeling and Simulation of Motion of an Underwater Robot Ryo Inoharay, Kaito Isogaiy, Hideo Nakanoz, and Hideaki Okazakiy yGraduate School of Engineering, Shonan Institute of Technology 1–1–25, Tsujidounishikaigan, Fujisawa-shi, Kanagawa Prefecture 251-8511, Japan zFaculty of Engineering, Shonan Institute of Technology 1–1–25, Tsujidounishikaigan, Fujisawa-shi, Kanagawa Prefecture 251-8511, Japan Email:
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[email protected] Abstract—This paper presents how system dynamics ics [1] of an underwater robot based on [2], [4]. The time and system control equations for an underwater robot were parameter t for all the stated variables, such as r(t), or Ω(t), derived using an Arnold-type operator to control the Open- etc., is omitted for convenience. We use the following no- ROV. Typical behavior of the OpenROV on MATLAB nu- tation as [2] (Fig 2): merical simulations is illustrated. ei 2 w (i = 1; 2; 3) are the base vectors of a right-handed Cartesian stationary coordinate system at the origin O; 2 = ; ; 1. Introduction Ei W (i 1 2 3) are the base vectors of a right moving coordinate system connected to the body at the center of Although there are several designs, control system equa- the mass Oc. tions, and dynamic equations for underwater robots, such as [1], unified methods to describe the dynamic equations Definition 1 Let w and W be oriented euclidean spaces for the rigid body kinetics of an underwater robot have yet (i.e.