Underwater robots [electronic resource] / Gianluca Antonelli.

Third edition.

9783319028774 electronic book
3319028774 electronic book
9783319028767

Cham : Springer, 2014.

English

1 online resource (xxvii, 279 pages) : illustrations.

10.1007/978-3-319-02877-4 doi

TC1662

629.8/92

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. .

Includes bibliographical references.

Access limited to authorized users.

Description based on online resource; title from PDF title page (SpringerLink, viewed Dec. 3, 2013).

Springer tracts in advanced robotics ; v.96.

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