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Kinematic Control of Underwater Robotic System

Hugo, Åsmund Pedersen
Master thesis
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URI
http://hdl.handle.net/11250/2402212
Date
2016
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  • Institutt for marin teknikk [2350]
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.
Publisher
NTNU

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