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Underwater Robots (Springer Tracts in Advanced Robotics), by Gianluca Antonelli
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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.
- Sales Rank: #2823553 in Books
- Published on: 2013-11-23
- Original language: English
- Number of items: 1
- Dimensions: 9.21" h x .75" w x 6.14" l, 1.25 pounds
- Binding: Hardcover
- 279 pages
Review
From the reviews of the third edition:
“This book focuses on underwater manipulation, a new research topic that shares many problems with mobile manipulation … . The book covers decades of research results and reports them in a logically organized manner, making it ready for use and experimentation. It would be a valuable graduate-level textbook to cover the control of AUVs, a topic usually absent in teaching books on robotics. However, its target is a more advanced reader … .” (G. Gini, Computing Reviews, April, 2014)
From the Back Cover
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.
Most helpful customer reviews
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Glad to have purchased and good read
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Lots of detail and engineering information. The book is well organized. Glad to have purchased and good read.
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