Underwater Robots

Underwater Robots

Einband:
Fester Einband
EAN:
9783540317524
Untertitel:
Motion and Force Control of Vehicle-Manipulator Systems
Genre:
Wärme- und Energietechnik
Autor:
Gianluca Antonelli
Herausgeber:
Springer, Berlin
Auflage:
2nd ed.
Anzahl Seiten:
268
Erscheinungsdatum:
2006
ISBN:
978-3-540-31752-4

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.

Inhalt
Introduction.- Modelling of Underwater Robots.- Dynamic Control of 6-DOF AUVs.- Fault Detection/Tolerance Strategies for AUVs and ROVs.- Experiments of Dynamic Control of a 6-DOF AUV.- Kinematic Control of UVMSs.- Dynamic Control of UVMSs.- Interaction Control of UVMSs.- Coordinated Control of Platoons of AUVs.- Concluding Remarks.


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