Introduction to Autonomous Manipulation Case Study with an Underwater Robot, SAUVIM /

• Main Authors: Marani, Giacomo (Author), Yuh, Junku (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2014.
• Series: Springer Tracts in Advanced Robotics, 102
• Subjects: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.

“Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomou...

Table of Contents:

• Introduction
• Geometry, kinematics and dynamics of multi-body systems
• Kinematic control
• The SAUVIM Underwater Vehicle-Manipulator System
• Target localization
• Case study
• Mathematical supplement.