ENGLISH

Underwater Robots

By Gianluca Antonelli (auth.)

Book information

Publisher
Springer International Publishing
Year
2014
ISBN
978-3-319-02876-7, 978-3-319-02877-4
DOI
10.1007/978-3-319-02877-4
Language
english
Format
PDF
Filesize
11 MB (11168803 bytes)
Series
Springer Tracts in Advanced Robotics 96
Edition
3
Pages
279\294
Time added
2014-01-18 08:00:00
Robotics and Automation; Artificial Intelligence (

Description

This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.

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