Underwater Robots

• Κύριος συγγραφέας: Antonelli, Gianluca (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2014.
• Έκδοση: 3rd ed. 2014.
• Σειρά: Springer Tracts in Advanced Robotics, 96
• Θέματα: Engineering.; Artificial intelligence.; Robotics.; Automation.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).
• Φυσική περιγραφή: XXVII, 279 p. 151 illus., 62 illus. in color. online resource.
• ISBN: 9783319028774
• ISSN: 1610-7438 ;

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.       .