Modelling and control of lightweight underwater vehicle-manipulator systems
This thesis studies the mathematical description and the low-level control structures for underwater robotic systems performing motion and interaction tasks. The main focus is on the study of lightweight underwater-vehicle manipulator systems. A description of the dynamic and hydrodynamic modelling...
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Heriot-Watt University
2017
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| Online Access: | https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.739348 |