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