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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Bibliographic Details
Call Number:Libro Electrónico
Main Author: Antonelli, Gianluca (Author)
Corporate Author: SpringerLink (Online service)
Format: Electronic eBook
Language:Inglés
Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2006.
Edition:2nd ed. 2006.
Series:Springer Tracts in Advanced Robotics, 2
Subjects:
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 .
Online Access:Texto Completo
Table of Contents:
  • Introduction
  • Modelling of Underwater Robots
  • Dynamic Control of 6-DOF AUVs
  • Fault Detection/Tolerance Strategies for AUVs and ROVs
  • Experiments of Dynamic Control of a 6-DOF AUV
  • Kinematic Control of UVMSs
  • Dynamic Control of UVMSs
  • Interaction Control of UVMSs
  • Coordinated Control of Platoons of AUVs
  • Concluding Remarks.

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