Underwater Robots
Gianluca Antonelli (auth.)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.
Categories:
Year:
2014
Edition:
3
Publisher:
Springer International Publishing
Language:
english
Pages:
279
ISBN 10:
3319028774
ISBN 13:
9783319028774
Series:
Springer Tracts in Advanced Robotics 96
File:
PDF, 10.65 MB
IPFS:
,
english, 2014