Authors:
- Up-to-date and top class research in underwater robotics by a leading expert in the field, now in its 4th substantially improved edition
- 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
- Includes expanded theory and improved simulations and a completely new chapter on the simulation package for underwater vehicles Simurv 4.1
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 123)
Buy it now
Buying options
Tax calculation will be finalised at checkout
Other ways to access
This is a preview of subscription content, log in via an institution to check for access.
Table of contents (6 chapters)
-
Front Matter
-
Back Matter
About this book
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.
Authors and Affiliations
-
Dipartimento di Ingegneria Elettrica e dell’Informazione, Università di Cassino e Lazio Meridionale, Cassino, Italy
Gianluca Antonelli
Bibliographic Information
Book Title: Underwater Robots
Authors: Gianluca Antonelli
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-319-77899-0
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing AG, part of Springer Nature 2018
Hardcover ISBN: 978-3-319-77898-3Published: 13 April 2018
Softcover ISBN: 978-3-030-08568-1Published: 14 December 2018
eBook ISBN: 978-3-319-77899-0Published: 05 April 2018
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 4
Number of Pages: XXX, 350
Number of Illustrations: 88 b/w illustrations, 129 illustrations in colour