An Augmented Catenary Model for Underwater Tethered Robots
Martin Filliung,Juliette Drupt,Charly Peraud,Claire Dune,Nicolas Boizot,Andrew Comport,Cedric Anthierens,Vincent Hugel,Martin Filliung,Juliette Drupt,Charly Peraud,Claire Dune,Nicolas Boizot,Andrew Comport,Cedric Anthierens,Vincent Hugel
This paper examines the relevance of using catenary-based curves to model cables in underwater tethered robotic applications in order to take into account the influence of hydrodynamic damping. To this end, an augmented catenary-based model is introduced to deal with the dynamical effects of surge motion, sway motion or a combination of both on a cable. Experimental studies are carried out with ei...
