Modellazione cinematica di bracci robotici montati su veicoli marini di superficie

Unmanned surface vehicles (USVs) are vehicles used in open and closed waters for exploratory, scientific, industrial, environmental, and military purposes. In this thesis, the state of the art from the scientific literature of unmanned surface vehicles is presented, focusing on Blue Boat, a USV developed by the company "Blue Robotics" and used by the University of Padua for projects concerning the field of automation. In particular, the thesis focuses on the kinematic modeling of the OpenMANIPULATOR-P robotic arm to be mounted on Blue Boat. The objective of the thesis concerns the calculation of the position and orientation in space, with respect to an initial reference point, of the end part of the robotic arm, called the gripper, to allow it to grasp objects of interest to researchers present in the surrounding area of the vehicle. For this purpose, the rules of kinematics were followed, and a part of code was developed in the Python programming language as a confirmation of the results obtained.