Modeling of Articulated Underwater Robots for Simulation and Control
2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV)(2018)
摘要
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.
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关键词
Mathematical model,Robots,Kinematics,Heuristic algorithms,Attitude control,Jacobian matrices,Unmanned underwater vehicles
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