Underwater Robots [electronic resource] /
By: Antonelli, Gianluca [author.].
Contributor(s): SpringerLink (Online service).
Series: Springer Tracts in Advanced Robotics: 123Publisher: Cham : Springer International Publishing : Imprint: Springer, 2018Edition: 4th ed. 2018.Description: XXX, 350 p. 217 illus., 129 illus. in color. | Binding - Card Paper |.Content type: text Media type: computer Carrier type: online resourceISBN: 9783319778990.Subject(s): Computer Engineering
| Artificial intelligence | Robotics and Automation | Artificial IntelligenceDDC classification: 629.892 Online resources: Click here to access eBook in Springer Nature platform. (Within Campus only.)
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Springer Nature eBookSummary: A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. 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 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.
A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. 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 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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