Underwater Robots

Motion and Force Control of Vehicle-Manipulator Systems

Gianluca Antonelli

208 pages, parution le 15/01/2003

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Résumé

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.

Contents

Modelling of Underwater Robots
Kinematic Control
Dynamic Control
Interaction Control

A- SIMURV. A simulation Package for Underwater Vehicle-Manipulator Systems
B- Mathematical models

Caractéristiques techniques

	PAPIER
Éditeur(s)	Springer
Auteur(s)	Gianluca Antonelli
Parution	15/01/2003
Nb. de pages	208
Format	16 x 24
Couverture	Relié
Poids	430g
Intérieur	Noir et Blanc
EAN13	9783540000549