Underwater robots : motion and force control of vehicle-manipulator systems
- Responsibility
- Gianluca Antonelli.
- Imprint
- Berlin ; New York : Springer, c2003.
- Physical description
- xxv, 183 p. : ill. ; 25 cm.
- Series
- Springer tracts in advanced robotics v. 2.
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| Call number | Note | Status |
|---|---|---|
| TC1662 .A54 2003 |
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Description
Creators/Contributors
- Author/Creator
- Antonelli, Gianluca, 1970-
Contents/Summary
- Bibliography
- Includes bibliographical references (p. [171]-183).
- 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 * Coordinated Control of Platoons of AUVs * Concluding Remarks.
- (source: Nielsen Book Data)
- Publisher's summary
-
This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed as well as a kinematic control for underwater manipulation, dynamic control, and several motion control schemes. Experimental results on motion control and fault tolerance to thrusters' faults with the autonomous vehicle ODIN are presented. The interaction with the environment is discussed and a simulation tool for multi-body systems is given. This software package, developed to test the presented control strategies, has been designed according to modular requirements which allow the possibility to generate robotic systems in the desired environment.
(source: Nielsen Book Data)
Subjects
- Subjects
- Remote submersibles.
- Steering-gear.
Bibliographic information
- Publication date
- 2003
- Series
- Springer tracts in advanced robotics, 1610-7438 ; v. 2
- Note
- Extracted and revised from the author's Ph.D. thesis defended at the Università degli Studie di Napoli Federico II in November 1999.
- ISBN
- 3540000542 (alk. paper)
- 9783540000549 (alk. paper)
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