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dc.contributor.authorSverdrup-Thygeson, Jørgen
dc.contributor.authorKelasidi, Eleni
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2017-03-20T12:11:27Z
dc.date.available2017-03-20T12:11:27Z
dc.date.created2016-12-19T11:50:38Z
dc.date.issued2016
dc.identifier.citationElsevier IFAC Publications / IFAC Proceedings series. 2016, 49 (23), 81-88.nb_NO
dc.identifier.issn1474-6670
dc.identifier.urihttp://hdl.handle.net/11250/2434702
dc.description.abstractFor several decades, the traditional ROV has been the workhorse used for any kind of subsea operations. The industry is now facing an important shift towards more economical and more efficient operations on subsea installations. To this end, there has been an increasing interest in smaller and lighter vehicles capable of performing autonomous tasks. In this paper we present the underwater swimming manipulator (USM), a hyper-redundant AUV with the potential to replace traditional ROVs and AUVs for routine inspection and lighter intervention tasks. We develop a mathematical model of the USM, including both kinematics and dynamic equations of motion. In addition, we present a generic force allocation method for USMs and the derivation of the configuration dependent force allocation matrix. The applicability of the proposed allocation method for path following control of USMs are demonstrated through computer simulations.nb_NO
dc.language.isoengnb_NO
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.subjectUnderwater Swimming Manipulator (USM); modeling of USM; force allocation for USMnb_NO
dc.titleModeling of underwater swimming manipulatorsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.source.pagenumber81-88nb_NO
dc.source.volume49nb_NO
dc.source.journalElsevier IFAC Publications / IFAC Proceedings seriesnb_NO
dc.source.issue23nb_NO
dc.identifier.doi10.1016/j.ifacol.2016.10.325
dc.identifier.cristin1414962
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© 2016 This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
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