Ebook: Underwater Robots – 2nd Edition: Motion and Force Control of Vehicle-Manipulator Systems
Author: Gianluca Antonelli (auth.)
- Tags: Control Engineering, Artificial Intelligence (incl. Robotics), Systems Theory Control, Automation and Robotics
- Series: Springer Tracts in Advanced Robotics 2
- Year: 2006
- Publisher: Springer Berlin Heidelberg
- Edition: 2nd ed.
- Language: English
- pdf
Underwater Robots represents the state of the art in dynamic robotic dynamic control of underwater vehicles, offering a mathematical model with significant impact on the control strategy.
The problem of controlling a 6-degrees-of-freedom 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 ODIN autonomous vehicle are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control.
The second edition is substantially improved and expanded, presenting new information on fault-tolerant control and coordinated control of autonomous underwater vehicles, and streamlining the presentation overall.
Underwater Robots represents the state of the art in dynamic robotic dynamic control of underwater vehicles, offering a mathematical model with significant impact on the control strategy.
The problem of controlling a 6-degrees-of-freedom 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 ODIN autonomous vehicle are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control.
The second edition is substantially improved and expanded, presenting new information on fault-tolerant control and coordinated control of autonomous underwater vehicles, and streamlining the presentation overall.
Content:
Front Matter....Pages -
1. Introduction....Pages 1-13
2. Modelling of Underwater Robots....Pages 15-44
3. Dynamic Control of 6-DOF AUVs....Pages 45-77
4. Fault Detection/Tolerance Strategies for AUVs and ROVs....Pages 79-91
5. Experiments of Dynamic Control of a 6-DOF AUV....Pages 93-104
6. Kinematic Control of UVMSs....Pages 105-140
7. Dynamic Control of UVMSs....Pages 141-200
8. Interaction Control of UVMSs....Pages 201-223
9. Coordinated Control of Platoons of AUVs....Pages 225-236
10. Concluding Remarks....Pages 237-238
A. Mathematical models....Pages 239-245
Back Matter....Pages -
Underwater Robots represents the state of the art in dynamic robotic dynamic control of underwater vehicles, offering a mathematical model with significant impact on the control strategy.
The problem of controlling a 6-degrees-of-freedom 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 ODIN autonomous vehicle are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control.
The second edition is substantially improved and expanded, presenting new information on fault-tolerant control and coordinated control of autonomous underwater vehicles, and streamlining the presentation overall.
Content:
Front Matter....Pages -
1. Introduction....Pages 1-13
2. Modelling of Underwater Robots....Pages 15-44
3. Dynamic Control of 6-DOF AUVs....Pages 45-77
4. Fault Detection/Tolerance Strategies for AUVs and ROVs....Pages 79-91
5. Experiments of Dynamic Control of a 6-DOF AUV....Pages 93-104
6. Kinematic Control of UVMSs....Pages 105-140
7. Dynamic Control of UVMSs....Pages 141-200
8. Interaction Control of UVMSs....Pages 201-223
9. Coordinated Control of Platoons of AUVs....Pages 225-236
10. Concluding Remarks....Pages 237-238
A. Mathematical models....Pages 239-245
Back Matter....Pages -
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