Underwater Robots
Nonfiction, Science & Nature, Technology, Robotics, Computers, Advanced Computing, Artificial Intelligence
| Author: | Gianluca Antonelli | ISBN: | 9783319028774 |
| Publisher: | Springer International Publishing | Publication: | November 22, 2013 |
| Imprint: | Springer | Language: | English |
| Author: | Gianluca Antonelli |
| ISBN: | 9783319028774 |
| Publisher: | Springer International Publishing |
| Publication: | November 22, 2013 |
| Imprint: | Springer |
| Language: | English |
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.
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.
