• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Efficient Modelling Methodology for Reconfigurable Underwater Robots

Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid
Journal article, Peer reviewed
Thumbnail
View/Open
CAMS2016_mcn_mb.pdf (342.0Kb)
URI
http://hdl.handle.net/11250/2422695
Date
2016
Metadata
Show full item record
Collections
  • Institutt for teknisk kybernetikk [2842]
  • Publikasjoner fra CRIStin - NTNU [26648]
Original version
IFAC-PapersOnLine 2016, 49(23):74-80   10.1016/j.ifacol.2016.10.324
Abstract
This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented in Euler parameters
Publisher
Elsevier for IFAC
Journal
IFAC-PapersOnLine

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit