A library for generating the kinematics and dynamics of electric underwater robotic arm under a moving base.
- whole-body forward dynamics
- whole-body inverse dynamics
- whole-body forward kinematics
- whole-body inverse kinematics
- model identification regressor
- whole-body nonlinear PID controller
For usage examples of Diff_UVMS, see Jupyter notebook.
Dynamics of moving base (underwater vehicle) used in UVMS foward dynamics example are derived from the Diff_UV (Differentiable Underwater Vehicle System) project.
Roy Featherstone and Kluwer Academic Publishers. 1987. Robot Dynamics Algorithm. Kluwer Academic Publishers, USA. http://dx.doi.org/10.1007/978-1-4899-7560-7
Fossen, T.I. (2011) Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons, Inc., Chichester, UK. https://doi.org/10.1002/9781119994138
This project is still experimental. While the core functionalities have been implemented and tested to some extent, further validation and testing are required. Use with care, especially for safety-critical applications. Contributions and feedback are welcome!