Efficient Modelling Methodology for Reconfigurable Underwater Robots

Mikkel Cornelius Nielsen, Mogens Blanke, Ingrid Schjølberg

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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
Issue number23
Pages (from-to)74-80
Publication statusPublished - 2016
Event10th IFAC Conference on Control Applications in Marine Systems - Trondheim, Norway
Duration: 13 Sep 201616 Sep 2016
Conference number: 10


Conference10th IFAC Conference on Control Applications in Marine Systems


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

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