Modeling of Articulated Underwater Robots for Simulation and Control
Henrik M. Schmidt-Didlaukies, Asgeir Johan Sorensen, Kristin Ytterstad Pettersen · 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV) · 2018
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.