Kinematic Control of Underwater Robotic System
dc.contributor.advisor | Schjølberg, Ingrid | |
dc.contributor.author | Hugo, Åsmund Pedersen | |
dc.date.accessioned | 2016-08-26T14:01:02Z | |
dc.date.available | 2016-08-26T14:01:02Z | |
dc.date.created | 2016-06-09 | |
dc.date.issued | 2016 | |
dc.identifier | ntnudaim:15545 | |
dc.identifier.uri | http://hdl.handle.net/11250/2402212 | |
dc.description.abstract | Underwater robotic systems can be used for a variety of operations, from reparations of sub-sea installations, to perform inspections and surveys. Such operations will demand robust and fast kinematic control, if they were to be executed automatically. Development of an inverse kinematic solver for a vehicle-manipulator system is very intricate, and it is therefore implemented on the small, humanoid robot Nao. This enables frequent testing and refinement of the solution algorithm, to create a good foundation for further development on underwater platforms. | |
dc.language | eng | |
dc.publisher | NTNU | |
dc.subject | Ingeniørvitenskap og IKT, Marin teknikk | |
dc.title | Kinematic Control of Underwater Robotic System | |
dc.type | Master thesis | |
dc.source.pagenumber | 142 |
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Institutt for marin teknikk [3410]