Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems: v.2 - Rilegato

Antonelli, G.

Rilegato

ISBN 10: 3540000542 ISBN 13: 9783540000549

Casa editrice: Springer-Verlag Berlin and Heidelberg GmbH & Co. K, 2003

Riassunto

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.

Su questo libro

Dalla quarta di copertina

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/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.

Dettagli dell?edizione

• Editore: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
• Data di pubblicazione: 2003
• Lingua: Inglese
• ISBN 10: 3540000542
• ISBN 13: 9783540000549
• Rilegatura: Copertina rigida
• Numero edizione: 1
• Numero di pagine: 216
• Contatto del produttore: non disponibile
• Persona responsabile: non disponibile