Underwater Robots 2014. Gianluca Antonelli
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Author: Gianluca Antonelli
Number of Pages: 306 pages
Published Date: 31 Dec 2013
Publisher: Springer International Publishing AG
Publication Country: Cham, Switzerland
Language: English
ISBN: 9783319028767
Download Link: Underwater Robots 2014
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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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