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Engineering - Robotics | Underwater Robots

Underwater Robots

Antonelli, Gianluca

3rd ed. 2014, XXVII, 279 p. 151 illus., 62 illus. in color.

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  • 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

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.

      

Content Level » Research

Keywords » Robotics - Underwater Robotics - Underwater Robots

Related subjects » Artificial Intelligence - Robotics

Table of contents 

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.

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