Underwater Robots

Underwater Robots by Gianluca Antonelli.

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...

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Bibliographic Details
Main Author: Antonelli, Gianluca (Author)
Corporate Author: SpringerLink (Online service)
Format: eBook
Language:English
Published: Cham : Springer International Publishing : Imprint: Springer, 2014.
Edition:3rd ed. 2014.
Series:Springer Tracts in Advanced Robotics, 96
Springer eBook Collection.
Subjects:
Robotics.
Automation.
Artificial intelligence.
Electronic resources (E-books)
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
Description
Summary: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.       .
Physical Description:XXVII, 279 p. 151 illus., 62 illus. in color. online resource.
ISBN:9783319028774
ISSN:1610-7438 ;
DOI:10.1007/978-3-319-02877-4

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