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Download Underwater Robots: Motion and Force Control of Vehicle- Manipulator Systems ePub

Download Underwater Robots: Motion and Force Control of Vehicle- Manipulator Systems ePub
  • ISBN 3540000542
  • ISBN13 978-3540000549
  • Language English
  • Formats mobi rtf azw mbr
  • Category No category
  • Size ePub 1130 kb
  • Size Fb2 1454 kb
  • Rating: 4.9
  • Votes: 498

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.


This book deals with the main control aspects in underwater manipulation tasks. A great number of figures of good quality are also included.

This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. Underwater Robots: Motion and Force Control of Vehicle Manipulator Systems provides an interesting reference text about control of underwater robots.

Nowadays, robotic control systems are highly advanced, including robot manipulators, underwater robots, flying robots, mobile robots, medical robots, parallel robots, wearable robots, humanoid robotsand more others. Indeed, the model parameters are likely to change with the operational conditions and the mission. For instance, when the robot is required to manipulate objects, or carry payloads, or even to be equipped with some additional sensors, its weight changes, as well as its centers of buoyancy and gravity.

controlling a single underwater vehicle by addressing the. control of underwater vehicle/manipulator systems. Finally, interaction with the environment is discussed, which is a. necessary step for controlling a manipulator. Impedance, force, and external force control algorithms are discussed, and robustness considerations, implementation issues, and. simulations are provided for each of them. The mathematical model with significant impact on the control strategy is discussed

This book deals with the main control aspects in underwater manipulation tasks. The problem of controlling a s 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

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This book deals with underwater robots, their motions, force control and manipulation tasks. The book contains a wide list of underwater robots (AUVs) control problems. The author presents natural and digital simulations.

Электронная книга "Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems", Gianluca Antonelli. Эту книгу можно прочитать в Google Play Книгах на компьютере, а также на устройствах Android и iOS. Выделяйте текст, добавляйте закладки и делайте заметки, скачав книгу "Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems" для чтения в офлайн-режиме.

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Since the core of the book is the coordinated control of manipulators mounted on underwater vehicles, control of non-holonomic vehicles is not dealt with; this is an important topic also in view of the large number of existing torpedo-like vehicles.

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