A new kind of kinematic underwater vehicle modelling, which uses the screw theory and the Davis method, is proposed. This latter one makes possible to treat the direct and inverse kinematic in the same way, using virtual kinematic chains. By a specific way, the kinematic model allows ...
This paper address the kinematic variables control problem for the low-speed manoeuvring of a low cost and underactuated underwater vehicle. Control of underwater vehicles is not simple, mainly due to the non-linear and coupled character of system equations, the lack of a precise model of vehicl...
A Kinematic Equation is an equation that describes the motion of a vehicle based on its position, velocity, and acceleration without considering internal forces or energy, commonly used in path tracking controller research for defining vehicle motion. ...
Surprisingly, we found that the magnitudes of the hydrodynamic force (<1 N) and the torques (<0.08 N路m) of dynamically moving soft arm were tiny, which leads to negligible inertial effect for the underwater vehicle than those of the traditional rigid underwater manipulator. Finally, we ...
The machine's accuracy can be then computed by comparing the acquired poses with the ones estimated by the kinematic model of the machine; the kinematic model is then optimized by updating the error/uncertainty parameters to minimize error in those poses. Kinematic calibration has emerged as a ...
Control of underwater vehicles is not simple, mainly due to the non-linear and coupled character of system equations, the lack of a precise model of vehicle dynamics and parameters, as well as the appearance of internal and external perturbations. The proposed methodology is an approach included...
A 2-joint, 3-link multibody vehicle model biologically inspired by a body caudal fin (BCF) carangiform fish propulsion is designed. The objective is to investigate and show that a machine mimicking real fish behavior can navigate efficiently over a given distance with a good balance of speed ...
While in Autonomous Underwater Vehicle (AUV) mode, HAUG is propelled by thruster and the pitch and yaw is controlled by a control surface. This paper describes a mathematical hydrodynamical model of the proposed HAUG design, named as Institut Teknologi Bandung Hybrid Autonomous Underwater Glider (...
A vehicle-manipulator system (VMS) is a class of mobile robots characterised by their ability to carry or be a robotic arm and therefore also manipulate objects. The VMS class includes vehicles with a robotic manipulator, free-floating space robots, aerial manipulators and underwater vehicle-...
The USM belongs to the class of underwater vehicle-manipulator systems (UVMS), and the main task is to carry out autonomous inspections and light intervention operations on subsea installations. To achieve this, it is important to develop a control system that maintains the stability of the USM...