Underwater robots
- Responsibility
- Gianluca Antonelli.
- Language
- English. English.
- Digital
- text file
- Edition
- Third edition.
- Publication
- Cham : Springer, [2014]
- Copyright notice
- ©2014
- Physical description
- 1 online resource (xxvii, 279 pages) : illustrations
- Series
- Springer tracts in advanced robotics ; v. 96.
Online
Available online
More options
Description
Creators/Contributors
- Author/Creator
- Antonelli, Gianluca, 1970- author.
Contents/Summary
- Bibliography
- Includes bibliographical references.
- Contents
-
- 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
- Simurv 4.0
- Concluding Remarks.
- Summary
- 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.
Subjects
Bibliographic information
- Publication date
- 2014
- Copyright date
- 2014
- Series
- Springer tracts in advanced robotics, 1610-742X ; volume 96
- ISBN
- 9783319028774 (electronic book)
- 3319028774 (electronic book)
- 9783319028767 (cloth)
- 3319028766 (cloth)
- DOI
- 10.1007/978-3-319-02877-4
