Browsing NTNU Open by Author "Amundsen, Morten Fyhn"

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Control of an Underwater Swimming Manipulator, With Compensation for Reaction Forces and Hydrostatic Forces

Amundsen, Morten Fyhn (Master thesis, 2017)

The underwater swimming manipulator (USM) is a new class of robots that combines the underwater snake robot's biologically inspired shape with the thruster actuators typical of other underwater robots. This combination ...
Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix

Amundsen, Morten Fyhn; Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad (Chapter, 2018)

Traditional control of robot manipulators assume that the base of the manipulator is fixed in the environment. However, underwater vehicle-manipulator systems are usually floating freely. Using traditional fixed-base ...