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.
Underwater Robots
Underwater Robots
eBook (3rd ed. 2014)
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Product Details
| ISBN-13: | 9783319028774 |
|---|---|
| Publisher: | Springer-Verlag New York, LLC |
| Publication date: | 11/22/2013 |
| Series: | Springer Tracts in Advanced Robotics , #96 |
| Sold by: | Barnes & Noble |
| Format: | eBook |
| File size: | 9 MB |