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Underwater Robots
Paperback
Series: Springer Tracts in Advanced Robotics, Book 96
Technology & EngineeringGeneral Computers
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ISBN13: 9783319374321
Publisher: Springer
Published: Aug 27 2016
Pages: 279
Weight: 0.96
Height: 0.65 Width: 6.10 Depth: 9.25
Language: English
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.
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