Springer Tracts in Advanced Robotics

Antonelli, Gianluca

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.

Details

Published by: Springer

Publication Date: 2016-08-27

Format: Paperback

ISBN-13: 9783319374321

DOI: 10.1007/978-3-319-02877-4

Dimensions: 235cm x155cm

Pages: 279