Efficient Modelling Methodology for Reconfigurable Underwater Robots

Mikkel Cornelius Nielsen, Mogens Blanke, Ingrid Schjølberg

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    Abstract

    This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented in Euler parameters.
    Original languageEnglish
    Book seriesIFAC-PapersOnLine
    Volume49
    Issue number23
    Pages (from-to)74-80
    ISSN2405-8963
    DOIs
    Publication statusPublished - 2016
    Event10th IFAC Conference on Control Applications in Marine Systems - Trondheim, Norway
    Duration: 13 Sept 201616 Sept 2016
    Conference number: 10

    Conference

    Conference10th IFAC Conference on Control Applications in Marine Systems
    Number10
    Country/TerritoryNorway
    CityTrondheim
    Period13/09/201616/09/2016

    Keywords

    • Udwadia-Kalaba
    • Multi-body Dynamics
    • Quaternion
    • Autonomous Underwater Vehicles
    • Reconfigurable Robots

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