DocumentCode
3056857
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
fYear
2011
fDate
6-9 June 2011
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS, 2011 IEEE - Spain
Conference_Location
Santander
Print_ISBN
978-1-4577-0086-6
Type
conf
DOI
10.1109/Oceans-Spain.2011.6003402
Filename
6003402
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