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

Format Post in Engineering BY Gianluca Antonelli

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Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems Gianluca Antonelli is available to download

Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems Gianluca Antonelli
Type:	eBook
Released:	2006
Publisher:	Springer
Page Count:	283
Format:	pdf
Language:	English
ISBN-10:	354031752X
ISBN-13:	9783540317524

This book deals with the main control aspects in underwater manipulation tasks.Underwater Robots: Motion and ... Textbook 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.