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Underwater Robots de Gianluca Antonelli

Underwater Robots: Springer Tracts in Advanced Robotics, cartea 96

Autor Gianluca Antonelli
en Limba Engleză Paperback – 27 aug 2016
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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Specificații

ISBN-13: 9783319374321
ISBN-10: 331937432X
Pagini: 308
Ilustrații: XXVII, 279 p. 151 illus., 62 illus. in color.
Dimensiuni: 155 x 235 x 17 mm
Greutate: 0.47 kg
Ediția:Softcover reprint of the original 3rd edition 2014
Editura: Springer
Colecția Springer Tracts in Advanced Robotics
Seria Springer Tracts in Advanced Robotics

Locul publicării:Cham, Switzerland

Cuprins

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.

Recenzii

From the reviews of the third edition:
“This book focuses on underwater manipulation, a new research topic that shares many problems with mobile manipulation … . The book covers decades of research results and reports them in a logically organized manner, making it ready for use and experimentation. It would be a valuable graduate-level textbook to cover the control of AUVs, a topic usually absent in teaching books on robotics. However, its target is a more advanced reader … .” (G. Gini, Computing Reviews, April, 2014)

Textul de pe ultima copertă

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.
      

Caracteristici

Top class research in underwater robotics Underwater Robots represents the state of the art in dynamic robotic dynamic control of underwater vehicles, offering a mathematical model with significant impact on the control strategy The third edition is substantially improved and includes expanded theory and improved simulations Written by a leading expert in the field Includes a rewritten simulator which will be available for download