Identifi cation of Interaction Parameters of Underwater Manipulator Links with a Viscous Medium for Precise Automatic Execution of Manipulation Operations. Part 1

The paper solves the problem of identifying the features of the interaction of underwater manipulators (UM) links, which autonomous underwater vehicles (AUV) are equipped with, with a viscous medium. It is shown that for precise control of the UM, viscous friction, as well as the added masses and moments of inertia of the UM links during its movement must be taken into account as correctly as possible. The procedure for identifying the parameters of interaction between a moving UM and a viscous medium is carried out before starting technological operations near work sites. These parameters are further used in the calculation of force and torque effects from the moving UM on the AUV body for its high-precision stabilization in the hover mode over the objects of work, as well as for the implementation of feedbacks of synthesized positional-force UM control systems that ensure automatic execution of underwater contact technological operations. In the first part of the article a dynamic model of UM, based on recurrent equations for soving the inverse problem of dynamics, is presented in the form of linear regression. In this model unknown parameters enter linearly into the equations of generalized forces (moments) acting in the joints of UM. This type of UM model allows the identification of all unknown parameters using a linear Kalman filter. The results of the study of the complete mathematical model of AUV with UM, performed in the second part of the article, confirmed the operability and high efficiency of the proposed method for identifying the parameters of the interaction of UM units with a viscous medium