Dynamics modeling and structural analysis of underwater construction robot

摘要

This paper describes the dynamics modeling, structural analysis of UCR. First of all, the system configuration of UCR and structural analysis are introduced. After that, 3-DOF equation of UCR is introduced for an analysis of motion performance through a numerical simulation, and applying the LOS method at the UCR for path following. Finally, the performance of the proposed path tracking method is verified through simulation and experiments using small test platform.