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

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Kinematic Control of UVMSs,ion task is usually given in terms of trajectories for the end effector, specially position and orientation. In this sense, an Underwater Vehicle-Manipulator System is always kinematically redundant due to the DOFs provided by the vehicle itself. However, it is not always efficient to use vehicle th

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1610-7438 vehicles, offering a mathematical model with significant im.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-freedo

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1610-7438 ed. 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..978-3-319-37432-1978-3-319-02877-4Series ISSN 1610-7438 Series E-ISSN 1610-742X

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Book 20143rd editiona 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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