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...
| Main Author: | |
|---|---|
| Corporate Author: | |
| Format: | eBook |
| Language: | English |
| Published: |
Berlin ; New York :
Springer,
[2003]
|
| Series: | Springer tracts in advanced robotics ;
v. 2. |
| Subjects: | |
| Online Access: | Connect to the full text of this electronic book |
| 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 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. |
|---|---|
| Item Description: | Extracted and revised from the author's Ph. D. thesis defended at the Università degli Studie di Napoli Federico II in November 1999. Electronic resource. |
| Physical Description: | 1 online resource (xxv, 183 pages) : illustrations. |
| Format: | Master and use copy. Digital master created according to Benchmark for Faithful Digital Reproductions of Monographs and Serials, Version 1. Digital Library Federation, December 2002. |
| Bibliography: | Includes bibliographical references (pages 171-183). |
| ISBN: | 9783662143872 (electronic bk.) 3662143879 (electronic bk.) 9783662143896 (print) 3662143895 (print) |
| ISSN: | 1610-7438 ; |