E

Next, the gravitational and buoyant forces acting on link i are described as fx, = PV - mi)g,

Considering the hydrodynamic forces described above and using the Newton-Euler formulation, the following equation of motion can be obtained (Antonelli, 2003):

and M is the inertia matrix including the added mass i Ma and inertia i Ia , N£ is the vector of the Coliolis and centrifugal forces, f is the vector consisting of the drag and gravitational and buoyant forces and moments, fg and Tg are the force and torque vectors of the vehicle, respectively, and Tm is the joint torque vector of manipulator. Moreover, the relationship between ®„ and = y/y (* = 0, e) is described as w =

Was this article helpful?

0 0
Learn Photoshop Now

Learn Photoshop Now

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

Get My Free Ebook


Post a comment