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Underwater Robots [electronic resource] / by Gianluca Antonelli.

By: Antonelli, Gianluca [author.].
Contributor(s): SpringerLink (Online service).
Material type: materialTypeLabelBookSeries: Springer Tracts in Advanced Robotics: 96Publisher: Cham : Springer International Publishing : Imprint: Springer, 2014Edition: 3rd ed. 2014.Description: XXVII, 279 p. 151 illus., 62 illus. in color. online resource.Content type: text Media type: computer Carrier type: online resourceISBN: 9783319028774.Subject(s): Engineering | Artificial intelligence | Robotics | Automation | Engineering | Robotics and Automation | Artificial Intelligence (incl. Robotics)Additional physical formats: Printed edition:: No titleDDC classification: 629.892 Online resources: Click here to access online
Contents:
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.
In: Springer eBooksSummary: 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.       .
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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.

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.       .

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