Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems (Springer Tracts in Advanced Robotics)

Gianluca Antonelli

ISBN 10: 3540000542 / ISBN 13: 9783540000549

Verlag: Springer-Verlag Berlin and Heide, 2003

Beschreibung

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Bestandsnummer des Verkäufers S_436134177

Bibliografische Details

• Titel: Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems (Springer Tracts in Advanced Robotics)
• Verlag: Springer-Verlag Berlin and Heide
• Erscheinungsjahr: 2003
• Sprache: Englisch
• ISBN-10: 3540000542
• ISBN-13: 9783540000549
• Einband: hardcover
• Zustand: Good

Über diesen Titel

Inhaltsangabe

This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed as well as a kinematic control for underwater manipulation, dynamic control, and several motion control schemes. Experimental results on motion control and fault tolerance to thrusters' faults with the autonomous vehicle ODIN are presented. The interaction with the environment is discussed and a simulation tool for multi-body systems is given. This software package, developed to test the presented control strategies, has been designed according to modular requirements which allow the possibility to generate robotic systems in the desired environment.