Underwater Robots

1. Front Matter

   Pages I-XXV

   PDF

2. Modelling of Underwater Robots

   • Gianluca Antonelli

   Pages 1-22

3. Kinematic Control

   • Gianluca Antonelli

   Pages 23-53

4. Dynamic Control

   • Gianluca Antonelli

   Pages 55-134

5. Interaction Control

   • Gianluca Antonelli

   Pages 135-154

6. Conclusions

   • Gianluca Antonelli

   Pages 155-157

7. SIMURV. A Simulation Package for Underwater Vehicle-Manipulator Systems

   • Gianluca Antonelli

   Pages 159-163

8. Mathematical models

   • Gianluca Antonelli

   Pages 165-170

9. Back Matter

   Pages 171-186

   PDF

The field of robotics continues to flourish and develop. In common with general scientific investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at con­ ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scientific or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the fields of robotics research - rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The monograph written by Gianluca Antonelli is focused on an impor­ tant class of robotic systems, namely underwater vehicle-manipulator sys­ tems. These offer a challenging field for investigation of motion planning and control problems of robots operating in unstructured environments. In such a scenario, the importance of providing the control system with both mo­ tion and force control capabilities becomes crucial for successful execution of complex tasks and missions.

• Force Control
• Motion control
• Underwater Robotics
• control
• control system
• modeling
• motion control
• motion planning
• robot
• robotics
• robotics research
• simulation
• system
• underwater robot

From the reviews:

"The book under review is particularly concerned with the control of underwater vehicle/manipulator systems (UVMSs). … The text does a good job of discussing many of the issues particularly to UVMSs. Because of the variety of control algorithms discussed it is perhaps best suited for an experimental researcher searching for a collection of control laws which can be implemented on their system. … wealth of references as well as its comments on issues particular to underwater robotic make it interesting to anyone interested in UVMSs." (Sean Andersson, Automatica, Vol. 42, 2006)

"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. … The realization of AUVs is a complex scientific problem of significant importance. And this book is a step forward in studying them." (Yuri N. Sankin, Zentralblatt MATH, Vol. 1049, 2004)

"Underwater robotics is a very interesting field of study … . The main aspects … are separately illustrated and investigated and several nice contributions - stemming from the work of the author and of the research group he belongs to – to comprehend it better and, ultimately, to design satisfactory solutions are presented. … the book is very well organized and it is written in a pleasantly concise style. Graduate students and researchers … will find it readable and rich of valuable material" (Giuseppe Conte, Adaptive Control and Signal Processing, Vol. 18 (7), 2004)

"The book originates from a PhD thesis defended by the author in 1999 at Naples University … . A great number of figures of good quality are also included. … Underwater Robots: Motion and Force Control of Vehicle Manipulator Systems provides an interesting reference text about control of underwater robots. The monograph can be useful forresearchers interested by this field or, more widely, for scientists involved in control of manipulators with mobile bases or mobile robots in three-dimensional space." (M. Pascal, Applied Mechanics Reviews, Vol. 56 (6), 2003)

• Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale, Università degli Studi di Cassino, Cassino (FR), Italy

  Gianluca Antonelli

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