Frame in ardusub

Blue Robotics Software ArduSub
1

Hi,when i want to develop a new motor configurations,i raed the ardusub code.I find a frame named VECTORED_6DOF_90DEG.So i am very curius about that.
Can you tell me how are the motors of this frame arranged?

bf03ad9bafa6f94b7980cca0992f1ee
bf03ad9bafa6f94b7980cca0992f1ee1429×292 23.4 KB

2

Hi @octopus,

It’s possible to determine a the motor arrangement using the thrust factors in the table so let’s do so:

  • In this case all the numbers have magnitude either 1 or 0, so the thrusters must be symmetric / at equal angles.
  • Motors 1, 3, 6, and 8 are facing upwards (they have vertical but no horizontal components), but also have roll and pitch components so they are at the corners rather than being stacked vertically in the middle
    • This is like the vertical motors in the BlueROV2 Heavy configuration
  • Motors 2 and 7 have only yaw and forwards contributions, so will be oriented along the horizontal plane, and spaced out towards the sides and facing either directly forwards or tilted slightly inwards or outwards from the central travel line of the vehicle
  • Motors 4 and 5 have only lateral contributions, with no yaw, so will be in the horizontal plane and collinear with each other and pointing at the centre of the vehicle

This is roughly equivalent to a BlueROV2 Heavy configuration but with the horizontal motors oriented at 90 degree angles relative to the vehicle, rather than being tilted. On a drawing it could look something like

VECTORED_6DOF_90DEG_concept
VECTORED_6DOF_90DEG_concept715×1053 165 KB

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3

Could you explain how the Roll, pitch, yaw, throttle, forward, and lateral factors are calculated for FRAME - BLUEROV1?

I designed and built an open-frame ROV with six thrusters. What will be the Roll, pitch, yaw, throttle, forward, and lateral factors? If you could help.

custom frame
custom frame307×455 25.8 KB
Thruster 5 and 6 is vertically below thruster 3 and 4.

4

Hi @mnpmilan,

This comment may be a good starting point for your understanding of thruster contribution factors, and this one covers some specifics of the BlueROV1 frame.

From your picture, at a high level your 1/2/3/4 thrusters contribute to vertical, pitch, and roll motion, so should have non-zero factors for those, and your 5/6 contribute to forward and yaw motion. You don’t have any lateral control authority. The actual numbers depend on the mass, volume, and thrust distribution of the vehicle.

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