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.

Produktinformation

Utgivningsdatum:2016-08-27
Mått:155 x 235 x 17 mm
Vikt:470 g
Format:Häftad
Språk:Engelska
Serie:Springer Tracts in Advanced Robotics
Antal sidor:279
Upplaga:3
Förlag:Springer International Publishing AG
ISBN:9783319374321

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From the reviews of the third edition: "This book focuses on underwater manipulation, a new research topic that shares many problems with mobile manipulation ... . The book covers decades of research results and reports them in a logically organized manner, making it ready for use and experimentation. It would be a valuable graduate-level textbook to cover the control of AUVs, a topic usually absent in teaching books on robotics. However, its target is a more advanced reader ... ." (G. Gini, Computing Reviews, April, 2014)

Innehållsförteckning

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.- 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.