Underwater Robots – 2nd Edition [electronic resource] :Motion and Force Control of Vehicle-Manipulator Systems / by Gianluca Antonelli.
by Antonelli, Gianluca [author.]; SpringerLink (Online service).
Material type:
BookSeries: Springer Tracts in Advanced Robotics: 2Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg, 2006.Description: XXVIII, 265 p. 133 illus. online resource.ISBN: 9783540317531.Subject(s): Engineering | Artificial intelligence | Systems theory | Engineering | Control Engineering | Artificial Intelligence (incl. Robotics) | Systems Theory, Control | Automation and RoboticsOnline resources: Click here to access online | Item type | Current location | Call number | Status | Date due | Barcode |
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| MAIN LIBRARY | Available |
Introduction -- Modelling of Underwater Robots -- Dynamic Control of 6-DOF AUVs -- Fault Detection/Tolerance Strategies for AUVs and ROVs -- Experiments of Dynamic Control of a 6-DOF AUV -- Kinematic Control of UVMSs -- Dynamic Control of UVMSs -- Interaction Control of UVMSs -- Coordinated Control of Platoons of AUVs -- Concluding Remarks.
This book deals with 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; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material not covered in the first edition as well as streamline and improve the previous material.
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