Underwater Robots Motion and Force Control of Vehicle-Manipulator Systems /

This book deals with 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...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Antonelli, Gianluca (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2006.
Edición:2nd ed. 2006.
Colección:Springer Tracts in Advanced Robotics, 2
Temas:
Control engineering.
Robotics.
Automation.
Offshore structures.
Artificial intelligence.
System theory.
Control theory.
Control, Robotics, Automation.
Offshore Engineering.
Control and Systems Theory.
Artificial Intelligence.
Systems Theory, Control .
Acceso en línea:Texto Completo
Descripción
Sumario:This book deals with 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; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material not covered in the first edition as well as streamline and improve the previous material.
Descripción Física:XXVIII, 268 p. 133 illus. online resource.
ISBN:9783540317531
ISSN:1610-742X ;

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