Underwater Robots Motion and Force Control of Vehicle-Manipulator Systems /

• Main Author: Antonelli, Gianluca (Author, http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2003.
• Edition: 1st ed. 2003.
• Series: Springer Tracts in Advanced Robotics, 2
• Subjects: Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Artificial Intelligence.; Systems Theory, Control.; Control, Robotics, Mechatronics.

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...

Table of Contents:

• 1. Modelling of Underwater Robots
• 2. Kinematic Control
• 3. Dynamic Control
• 4. Interaction Control
• Conclusions
• A. SIMURV. A Simulation Package for Underwater Vehicle-Manipulator Systems
• B. Mathematical models
• References.