Underwater robots /
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...
| Main Author: | |
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| Format: | Book |
| Language: | English |
| Published: |
Cham :
Springer,
[2014]
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| Edition: | Third edition. |
| Series: | Springer tracts in advanced robotics ;
v.96. |
| Subjects: |
| 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. . |
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| Physical Description: | xxvii, 279 pages : illustrations (some color) ; 24 cm. |
| Bibliography: | Includes bibliographical references. |
| ISBN: | 9783319028767 3319028766 |
| ISSN: | 1610-7438 ; |