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Underwater Robots. Softcover reprint of the original 3rd ed. 2014
・ISBN 978-3-319-37432-1 paper EUR 102.79
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| 著者・編者 | Antonelli, Gianluca, |
|---|---|
| シリーズ | (Springer Tracts in Advanced Robotics) |
| 出版社 | (Springer International Publishing AG, SZ) |
| 出版年月 | 2016 |
| ページ数 | 279 pp. |
| 言語 | ENG |
| ニュース番号 | ＜A05-16367＞ |
解説
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.