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Underwater Robots – 2nd Edition : Motion and Force Control of Vehicle-Manipulator Systems

Author: Gianluca Antonelli
Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg, 2006.
Series: Springer tracts in advanced robotics, 2.
Edition/Format:   eBook : Document : English
Publication:Springer e-books
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. 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  Read more...
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Details

Genre/Form: Electronic books
Additional Physical Format: Printed edition:
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Gianluca Antonelli
ISBN: 9783540317531 3540317538 9783540317524 354031752X
OCLC Number: 1086427541
Description: 1 online resource (XXVIII, 268 p. 133 illus.) online resource.
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.
Series Title: Springer tracts in advanced robotics, 2.
Responsibility: by Gianluca Antonelli.

Abstract:

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 aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material not covered in the first edition as well as streamline and improve the previous material.

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