Title :
Kinematic analysis of an Underwater Parallel Robot
Author :
Moreno, Hector A. ; Puglisi, Lisandro ; Saltaren, Roque ; Carrera, Isela
Author_Institution :
Center for Autom. & Robot., Tech. Univ. of Madrid-CSIC, Madrid, Spain
Abstract :
In this paper we present the kinematic analysis of an Underwater Parallel Robot, named Remo II. Due to its structure, this robot requires a smaller number of thrusters to navigate than other underwater vehicles. However, the kinematics of this robot is more complex than that of conventional underwater robots. The inverse position, velocity and acceleration kinematic analyzes of Remo II, are performed. This formulation is easily parallelizable and can be implemented in multiple-core processors.
Keywords :
mobile robots; robot kinematics; underwater vehicles; Remo II; robot kinematic; thruster; underwater parallel robot; underwater vehicle; Acceleration; Actuators; Instruction sets; Joints; Kinematics; Robots; Trajectory;
Conference_Titel :
OCEANS, 2011 IEEE - Spain
Conference_Location :
Santander
Print_ISBN :
978-1-4577-0086-6
DOI :
10.1109/Oceans-Spain.2011.6003402
