Constrained multi-body dynamics for modular underwater robots — Theory and experiments

Nielsen, Michael Engelbrecht; Eidsvik, Ole Alexander Nørve; Blanke, Mogens; Schjølberg, Ingrid

doi:10.1016/j.oceaneng.2017.12.007

Cited by 28 publications

(18 citation statements)

References 40 publications

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“…Wind turbines require annual inspection of the submerged structure and power cables [37], which is normally completed using ROVs or divers. been empirically determined through model tests by [13]. For the homogeneous fleet assumption (Asm.…”

Section: Case Study Applicationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…For this paper, the underwater robot platform called REconfigurable MOdular Robotics for Aquatic environments (REMORA) [13] is considered. The mathematical model of the REMORA vehicle's dynamics in calm water [13] was sampled and used in Monte Carlo simulation to produce the energy distribution. The path planner was tested for suitability with the control model of the REMORA AMV developed in [13] and was shown to quickly stabilise and track the generated path.…”

Section: Introductionmentioning

confidence: 99%

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Robust mission planning for Autonomous Marine Vehicle fleets

Thompson

Galeazzi

2020

Robotics and Autonomous Systems

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Section: Case Study Applicationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust mission planning for Autonomous Marine Vehicle fleets

Thompson

Galeazzi

2020

Robotics and Autonomous Systems

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“…A static mapping, a bollard pull at zero speed through water, is available in the BlueRobotics specifications for T200 thrusters. Recent model tests provide true propeller characteristics that could be used to get a much better estimate of power consumption when the robots make speed through water [26].…”

Section: B Experimentsmentioning

confidence: 99%

Self-reconfiguration of modular underwater robots using an energy heuristic

Furno

Blanke

Galeazzi

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

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Abstract-This paper investigates self-reconfiguration of a modular robotic system, which consists of a cluster of modular vehicles that can attach to each other by a connection mechanism. Thereby, they can form a desired morphology to meet task specific requirements. Reconfiguration can be needed due to limitations from dimensions of passable corridors for an underwater maintenance task, for supplemental instrumentation that is available on a particular robot, or as remedial action if one robot in a cluster suffers from malfunction. Being crucial for autonomous underwater vehicles, energy consumed is employed as a heuristic. The paper shows how the Basic Theta* algorithm can be guided by an energy criterion to calculate a transition from start-to goal morphology. Individual robots are guided while minimizing the overall energy for propulsion and for balancing restoring forces and moments in morphologies. The properties of the proposed self-reconfiguration algorithm are evaluated through simulations and preliminary model tank experiments. The energy based heuristic for reconfiguration is compared to a traditional solution that minimizes the Euclidean distance.

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“…Chen et al [22] applied the approach to the trajectory tracking control of the mobile robot, by solving UKE to obtain the control input not make any linearization or approximations. For additional applications using UKE see [23][24][25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

An Approach to the Dynamics and Control of Uncertain Robot Manipulators

Yang

Zhang

et al. 2019

Algorithms

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In this paper, a novel constraint-following control for uncertain robot manipulators that is inspired by analytical dynamics is developed. The motion can be regarded as external constraints of the system. However, it is not easy to obtain explicit equations for dynamic modeling of constrained systems. For a multibody system subject to motion constraints, it is a common practice to introduce Lagrange multipliers, but using these to obtain explicit dynamical equations is a very difficult task. In order to obtain such equations more simply, motion constraints are handled here using the Udwadia-Kalaba equation(UKE). Then, considering real-life robot manipulators are usually uncertain(but bounded), by using continuous controllers compensate for the uncertainties. No linearizations/approximations of the robot manipulators systems are made throughout, and the tracking errors are bounds. A redundant manipulator of the SCARA type as the example to illustrates the methodology. Numerical results are demonstrates the simplicity and ease of implementation of the methodology.

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Constrained multi-body dynamics for modular underwater robots — Theory and experiments

Cited by 28 publications

References 40 publications

Robust mission planning for Autonomous Marine Vehicle fleets

Robust mission planning for Autonomous Marine Vehicle fleets

Self-reconfiguration of modular underwater robots using an energy heuristic

An Approach to the Dynamics and Control of Uncertain Robot Manipulators

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