Optimization of Thruster Configuration for Swimming Robots

Optimization of Thruster Configuration for Swimming Robots

[1]  Spyros G. Tzafestas,et al.  Introduction to Mobile Robot Control , 2013 .

[2]  Pasquale Chiacchio,et al.  Force polytope and force ellipsoid for redundant manipulators , 1997, J. Field Robotics.

[3]  S. Lai,et al.  Design optimisation of a slotless brushless permanent magnet DC motor with helically-wound laminations for underwater rim-driven thrusters , 2006 .

[4]  J. Merlet.  Jacobian, Manipulability, Condition Number and Accuracy of Parallel Robots , 2005, ISRR.

[5]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[6]  Feng Zhou,et al.  Development of a hydraulic propulsion system controlled by proportional pressure valves for the 4500m work-class ROV , 2013, 2013 OCEANS - San Diego.

[7]  J. Garus.  Determination of admissible control forces for optimal thrust allocation in propulsion system of underwater vehicle , 2004 .

[8]  Stephen R. Turnock,et al.  Structurally integrated brushless PM motor for miniature propeller thrusters , 2004 .

[9]  François Pierrot,et al.  Optimal thruster configuration for omni-directional underwater vehicles. SamoS: a Pythagorean solution , 1998, IEEE Oceanic Engineering Society. OCEANS'98. Conference Proceedings (Cat. No.98CH36259).

[10]  Peter Wiktor,et al.  Minimum Control Authority Plot: A Tool for Designing Thruster Systems , 1994 .

[11]  R. Penrose.  A Generalized inverse for matrices , 1955 .

[12]  Cheng Siong Chin,et al.  Design of Thrusters Configuration and Thrust Allocation Control for a Remotely Operated Vehicle , 2006, 2006 IEEE Conference on Robotics, Automation and Mechatronics.

[13]  Peter Wiktor,et al.  An Optimal Thruster Configuration Design and Evaluation for Quick Step , 1994 .

[14]  Pyung H. Chang.  A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundancy , 1988 .

[15]  Jill Carlton,et al.  Marine Propellers and Propulsion , 2007 .

[16]  E. Saber,et al.  Advanced Linear Algebra for Engineers with Matlab , 2018 .