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Underwater robots
Antonelli, G. (2014). Underwater robots. Third edition. Springer Tracts in Advanced Robotics, 96. Springer International Publishing: Cham. ISBN 978-3-319-37432-1. 279 pp. https://dx.doi.org/10.1007/978-3-319-02877-4
Deel van: Springer Tracts in Advanced Robotics. Springer International Publishing Ag: Switzerland. ISSN 1610-7438; e-ISSN 1610-742X, meer
Beschikbaar in  Auteur 
    VLIZ: Technology [105808]
Trefwoorden
    Actuation
    Autonomous underwater vehicles
    Controlling elements
    Equipment > Sensors
    Forces (mechanics) > Gravity
    History
    Localization
    Physics > Mechanics > Dynamics
    Physics > Mechanics > Kinematics
    Properties > Physical properties > Buoyancy
    Remotely operated vehicles
    Robotics
    Stability
    Marien/Kust
Auteur  Top 
  • Antonelli, G.
Abstract
    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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