Advertisement

Simurv 4.1

  • Gianluca Antonelli
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 123)

Abstract

Given the scalar, nonlinear, differential equation it is required to approximate it by a difference equation such that its solution, i.e., x(t), can be numerically evaluated by means of a computer. The theory of digitization is huge and well covered by textbooks of both analysis and control theory,here the sole equations needed to understand how to achieve the simulation of a 6DOFs rigid body, the basis for a vehicle-manipulator system, will be given.

References

  1. 1.
    G. Antonelli, E. Cataldi, Basic interaction operations for an underwater vehicle-manipulator system, in ICAR 2015-17th International Conference on Advanced Robotics (Istanbul, T, July 2015)Google Scholar
  2. 2.
    P. Baerlocher, Inverse kinematics techniques for the interactive posture control of articulated figures. Ph.D. thesis, École Polytechnique Fédéral De Lausanne, 2001Google Scholar
  3. 3.
    F. Caccavale, S. Chiaverini, B. Siciliano, Second-order kinematic control of robot manipulators with jacobian damped least-squares inverse: theory and experiments. IEEE/ASME Trans. Mechatron. 2(3), 188–194 (1997)CrossRefGoogle Scholar
  4. 4.
    C.W. Chen, J.S. Kouh, J.F. Tsai, Modeling and simulation of an AUV simulator with guidance system 38(2), 211–225 (2012)Google Scholar
  5. 5.
    S. Chiaverini, G. Oriolo, and I. D. Walker, Chapter kinematically redundant manipulators, in Springer Handbook of Robotics ed. by B. Siciliano, O. Khatib (Springer, Heidelberg, D, 2008), pp. 245–268Google Scholar
  6. 6.
    P. Di Lillo, E. Simetti, D. De Palma, E. Cataldi, G. Indiveri, G. Antonelli, G. Casalino, Advanced ROV autonomy for efficient remote control in the DexROV project. Mar. Technol. Soc. J. 50(4), 67–80 (2016)CrossRefGoogle Scholar
  7. 7.
    D. Di Vito, C. Natale, G. Antonelli, A comparison of damped least squares algorithms for inverse kinematics of robot manipulators, in 20th IFAC World Congress (Toulouse, FR, July 2017)Google Scholar
  8. 8.
    J.W. Eaton, D. Bateman, S. Hauberg, GNU Octave Manual Version 3 (Network Theory Limited, 2008)Google Scholar
  9. 9.
    R. Featherstone, D. Orin, Robot dynamics: equations and algorithms, in Proceedings. ICRA’00. IEEE International Conference on Robotics and Automation, 2000, vol. 1 (IEEE, 2000), pp. 826–834Google Scholar
  10. 10.
    G.F. Franklin, J.D. Powell, M.L. Workman, Digital Control of Dynamic Systems (Addison-wesley Menlo Park, 1998)Google Scholar
  11. 11.
    J. Gancet, G. Antonelli, P. Weiss, A. Birk, S. Calinon, A. Turetta, C. Walen, D. Urbina, M. Ilzkovitz, P. Letier, F. Gauch, B. Chemisky, G. Casalino, G. Indiveri, M. Pfingsthorn, L. Guilpain, Dexrov: enabling effective dexterous rov operations in presence of communication latencies, in MTS/IEEE OCEANS 2015 (Genoa, I, April 2015)Google Scholar
  12. 12.
    A.A. Maciejewski, Numerical filtering for the operation of robotic manipulators through kinematically singular configurations. J. Robot. Syst. 5(6), 527–552 (1988)CrossRefGoogle Scholar
  13. 13.
    MATLAB, Version 7.10.0 (R2010a) (The MathWorks Inc., Natick, Massachusetts, 2010)Google Scholar
  14. 14.
    Octave community, GNU/Octave (2012)Google Scholar
  15. 15.
    T. Perez, T. Fossen, Marine Systems Simulator (2010) (Norwegian University of Science and Technology, Trondheim, Norway, 2013)Google Scholar
  16. 16.
    M. Prats, J. Pérez, J.J. Fernández, P. Sanz, An open source tool for simulation and supervision of underwater intervention missions, in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE, 2012), pp. 2577–2582Google Scholar
  17. 17.
    M. Quigley, B. Gerkey, K. Conley, J. Faust, T. Foote, J. Leibs, E. Berger, R. Wheeler, A. Ng, ROS: an open-source robot operating system, in Open-source software workshop of the 2009 IEEE International Conference on Robotics and Automation (2009) (Kobe, J)Google Scholar
  18. 18.
    P.J. Sanz, P. Ridao, G. Oliver, C. Insaurralde, G. Casalino, C. Silvestre, C. Melchiorri, A. Turetta, TRIDENT: recent improvements about intervention missions, in IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV2012) (2012)Google Scholar
  19. 19.
    Scilab Enterprises, Scilab: Free and Open Source Software for Numerical Computation (Scilab Enterprises, Orsay, France, 2012)Google Scholar
  20. 20.
    P. Senarathne, W. Wijesoma, K. Lee, B. Kalyan, M. Moratuwage, N. Patrikalakis, F. Hover, MarineSIM: robot simulation for marine environments, in IEEE OCEANS 2010 (IEEE, 2010)Google Scholar
  21. 21.
    B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: modelling, planning and control (Springer, 2009)Google Scholar
  22. 22.
    M.W. Walker, D.E. Orin, Efficient dynamic computer simulation of robotic mechanisms. J. Dyn. Syst. Meas. Control 104(3), 205–211 (1982)CrossRefzbMATHGoogle Scholar

Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Dipartimento di Ingegneria Elettrica e dell’InformazioneUniversità di Cassino e Lazio MeridionaleCassinoItaly

Personalised recommendations