Underwater Robots

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

ISBN: 9783540317524

出版社: Springer

出版年: 2006-07-26

页数: 265

定价: USD 99.00

装帧: Hardcover

内容简介

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.