Vis enkel innførsel

dc.contributor.advisorFjeldaas, Sven
dc.contributor.authorLygre Furevik, Martin
dc.date.accessioned2019-09-11T09:12:00Z
dc.date.created2016-06-09
dc.date.issued2016
dc.identifierntnudaim:15362
dc.identifier.urihttp://hdl.handle.net/11250/2615411
dc.description.abstractThis master thesis describes the development of a trajectory control system for autonomous underwater vehicles. The system enables geometric models to follow three dimensional paths, while orientation is controlled by modeled support geometry. Paths are modeled as networks, allowing for multiple routes between two nodes. Both vehicle, and manipulator type movement can be controlled. A typical serial manipulator has been modeled and an inverse kinematics solver has been implemented. A desktop sized manipulator with programmable servo motors has been connected, and can mirror the motion of the modeled robot. The system has been developed as a number of software modules, connected to GeoMod, a program for geometric modeling. The modules have been developed using C++ and Qt and are intended as a framework for further development of autonomous systems.en
dc.languageeng
dc.publisherNTNU
dc.subjectProduktutvikling og produksjon, Produktutvikling og materialeren
dc.titleTrajectory Control for Autonomous Working Submersiblesen
dc.typeMaster thesisen
dc.source.pagenumber94
dc.contributor.departmentNorges teknisk-naturvitenskapelige universitet, Fakultet for ingeniørvitenskap,Institutt for maskinteknikk og produksjonnb_NO
dc.date.embargoenddate10000-01-01


Tilhørende fil(er)

Thumbnail
Thumbnail

Denne innførselen finnes i følgende samling(er)

Vis enkel innførsel