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Underwater Robots / by Gianluca Antonelli.
- Format:
- Book
- Author/Creator:
- Antonelli, Gianluca, 1970- author.
- Series:
- Springer tracts in advanced robotics 1610-7438 ; 96.
- Springer Tracts in Advanced Robotics, 1610-7438 ; 96
- Language:
- English
- Subjects (All):
- Robotics.
- Automation.
- Artificial intelligence.
- Robotics and Automation.
- Artificial Intelligence.
- Local Subjects:
- Robotics and Automation.
- Artificial Intelligence.
- Physical Description:
- 1 online resource (XXVII, 279 pages 151 illustrations, 62 illustrations in color.)
- Edition:
- Third edition 2014.
- Contained In:
- Springer Nature eBook
- Place of Publication:
- Cham : Springer International Publishing : Imprint: Springer, 2014.
- System Details:
- text file PDF
- Summary:
- 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. .
- Contents:
- 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
- Interaction Control of UVMSs.
- Local Notes:
- Acquired for the Penn Libraries with assistance from the Engineering Book Fund.
- Other Format:
- Printed edition:
- ISBN:
- 978-3-319-02877-4
- Access Restriction:
- Restricted for use by site license.
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