Modeling of Articulated Underwater Robots for Simulation and Control
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Date
2018Metadata
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- Institutt for marin teknikk [3437]
- Institutt for teknisk kybernetikk [3742]
- Publikasjoner fra CRIStin - NTNU [38294]
Original version
10.1109/AUV.2018.8729806Abstract
This paper presents a methodology for modeling articulated underwater robots possessing a kinematic tree structure and arbitrary thruster placement. Efficient algorithms for the forward dynamics and the thruster configuration matrix are presented. By using an articulated underwater robot with an unconventional design as an example, it is also demonstrated how the presented methodology can be utilized for implementation of dynamical control strategies.