Modeling of Articulated Underwater Robots for Simulation and Control
Chapter
Submitted version
Permanent lenke
https://hdl.handle.net/11250/2989973Utgivelsesdato
2018Metadata
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- Institutt for marin teknikk [3408]
- Institutt for teknisk kybernetikk [3666]
- Publikasjoner fra CRIStin - NTNU [37257]
Originalversjon
10.1109/AUV.2018.8729806Sammendrag
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.