A library for generating the kinematics and dynamics of electric underwater robotic arm under a moving base.
- floating-base manipulator forward dynamics
- floating-base manipulator inverse dynamics
- floating-base manipulator forward kinematics
- floating-base manipulator differential inverse kinematics
For usage examples of Diff_UVMS, see Jupyter notebook.
For Dynamics of a moving base, use 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
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!