Titlebook: Underwater Robots; Gianluca Antonelli Book 20143rd edition Springer International Publishing Switzerland 2014 Robotics.Underwater Robotics

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Dynamic Control of 6-DOF AUVs,Control of UVMSs require full-DOF control of the vehicle, cruise vehicles with rudder and stern are not suitable to hold a manipulator arm for their incapacity to counteract the interaction forces with the arm itself. For this reason the following chapter restricts the discussion to the problem of controlling an underwater vehicle in 6-DOFs.

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Dynamic Control of UVMSs,This chapter addresses the dynamic control of UVMSs.

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Interaction Control of UVMSs,In view of the development of an underwater vehicle able to perform a completely autonomous mission the capability of the vehicle to interact with the environment by the use of a manipulator is of greatest interest. To this aim, control of the force exchanged with the environment must be properly investigated.

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,Simurv?4.0, .? 4.0 is not a . simulator, it is rather a libray of functions of general use to test UVMS kinematic and dynamic control algorithms. The code developed is made available to be downloaded at the address:

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Concluding Remarks,This monograph addressed control of underwater vehicle manipulator systems, a challenging problem that is addressed by the field actors with an increasing interest. Autonomous robotics, in all its domains, is continuously growing reaching new and exciting results, in the underwater environment as well.

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