Underwater Robots - Motion and Force Control of Vehicle-Manipulator Systems
Gianluca Antonelli
Springer
2006
Hardcover 268 p., 133 illus. ISBN 354031752X
£61.00
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.
Contents
Introduction.
Modelling of Underwater Robots.
Dynamic Control of 6-DOF AUVs.
Fault Detection/Tolerance Strategies for AUVs and ROVs.
