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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.

Availability

Inventory Code	Barcode	Call Number	Location	Status
1408000609	EB0002989	623.8205 Ant u	Central Library (OPAC)	Available

Detail Information

Series Title: Springer Tracts in Advanced Robotics
Call Number: 623.8205 Ant u
Publisher: Switzerland : Springer Cham., 2013
Collation: xxvii, 279.: Ill.
Language: English
ISBN/ISSN: 978-3-319-02877-4
Classification: 623.8205
Content Type: Ebook
Media Type: -
Carrier Type: online resource
Edition: 1
Subject(s): Remote submersibles
Steering-gear
Specific Detail Info: -
Statement of Responsibility: RTS

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Underwater Robots

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