Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems

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 aspec...