Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems - Couverture rigide

Antonelli, G.

Couverture rigide

ISBN 10 : 3540000542 ISBN 13 : 9783540000549

Editeur : Springer-Verlag Berlin and Heidelberg GmbH & Co. K, 2003

Synopsis

This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed as well as a kinematic control for underwater manipulation, dynamic control, and several motion control schemes. Experimental results on motion control and fault tolerance to thrusters' faults with the autonomous vehicle ODIN are presented. The interaction with the environment is discussed and a simulation tool for multi-body systems is given. This software package, developed to test the presented control strategies, has been designed according to modular requirements which allow the possibility to generate robotic systems in the desired environment.

A propos du livre

Présentation de l'éditeur

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.

Détails de l'édition

• Éditeur: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
• Date d'édition: 2003
• Langue: anglais
• ISBN 10: 3540000542
• ISBN 13: 9783540000549
• Reliure: Relié
• Nombre de pages: 216
• Coordonnées du fabricant: non disponible
• Personne responsable: non disponible