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
Tabla de Contenidos:
  • 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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