Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems Springer | 2009 | ISBN: 354031752X | 268 pages | PDF | 7,3 MB
This book deals with 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; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control.