Modeling of Articulated Underwater Robots for Simulation and Control

被引：0

作者：

Schmidt-Didlaukies, Henrik M. ^{[1
]}

Sorensen, Asgeir J. ^{[1
]}

Pettersen, Kristin Y. ^{[2
]}

机构：

[1] NTNU, Dept Marine Technol, Ctr Autonomous Marine Operat & Syst AMOS, NO-7491 Trondheim, Norway

[2] NTNU, Dept Engn Cybernet, Ctr Autonomous Marine Operat & Syst AMOS, NO-7491 Trondheim, Norway

来源：

2018 IEEE/OES AUTONOMOUS UNDERWATER VEHICLE WORKSHOP (AUV) | 2018年

关键词：

underwater robots; vehicle-manipulator systems; robot dynamics; robot kinematics; MANIPULATOR; VEHICLE;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper presents a methodology for modeling articulated underwater robots possessing a kinematic tree structure and arbitrary thruster placement. Efficient algorithms for the forward dynamics and the thruster configuration matrix are presented. By using an articulated underwater robot with an unconventional design as an example, it is also demonstrated how the presented methodology can be utilized for implementation of dynamical control strategies.

引用

页数：7

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