TY  - GEN
AB  - 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. .
AU  - Antonelli, Gianluca,
CN  - SpringerLink
CN  - TC1662
DO  - 10.1007/978-3-319-02877-4
DO  - doi
ET  - Third edition.
ID  - 696327
KW  - Remote submersibles.
KW  - Steering-gear.
LK  - https://univsouthin.idm.oclc.org/login?url=http://dx.doi.org/10.1007/978-3-319-02877-4
N2  - 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. .
SN  - 9783319028774 
SN  - 3319028774 
T1  - Underwater robots
TI  - Underwater robots
UR  - https://univsouthin.idm.oclc.org/login?url=http://dx.doi.org/10.1007/978-3-319-02877-4
VL  - volume 96
ER  -