dc.contributor.author | Schmidt-Didlaukies, Henrik | |
dc.contributor.author | Sørensen, Asgeir Johan | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.date.accessioned | 2022-04-05T12:59:47Z | |
dc.date.available | 2022-04-05T12:59:47Z | |
dc.date.created | 2019-01-16T12:19:27Z | |
dc.date.issued | 2018 | |
dc.identifier.isbn | 978-1-7281-0253-5 | |
dc.identifier.uri | https://hdl.handle.net/11250/2989973 | |
dc.description.abstract | 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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | IEEE AUV | |
dc.title | Modeling of Articulated Underwater Robots for Simulation and Control | en_US |
dc.type | Chapter | en_US |
dc.description.version | submittedVersion | en_US |
dc.rights.holder | This preprint version of the article will not be available in NTNU Open | en_US |
dc.identifier.doi | 10.1109/AUV.2018.8729806 | |
dc.identifier.cristin | 1658165 | |
cristin.unitcode | 194,64,20,0 | |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for marin teknikk | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |