Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems
Year: 2006 Language: english Author: Dr Giannluca Antonelli Publisher: Springer Edition: 2nd ISBN: 978-3-540-31752-4 Format: PDF Quality: eBook Pages count: 283 Description: 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.
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Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems
Language: english
Author: Dr Giannluca Antonelli
Publisher: Springer
Edition: 2nd
ISBN: 978-3-540-31752-4
Format: PDF
Quality: eBook
Pages count: 283
Description: 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.
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