E-Book Overview
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. The purpose of this second edition is to add material not covered in the first edition as well as streamline and improve the previous material.
E-Book Content
Springer Tracts in Advanced Robotics Volume 2 Editors: Bruno Siciliano · Oussama Khatib · Frans Groen
Springer Tracts in Advanced Robotics Edited by B. Siciliano, O. Khatib, and F. Groen
Vol. 21: Ang Jr., M.H.; Khatib, 0. (Eds.) Experimental Robotics IX { The 9th International Symposium on Experimental Robotics 624 p. 2006 [3-540-28816-3]
Vol. 10: Siciliano, B.; De Luca, A.; Melchiorri, C.; Casalino, G. (Eds.) Advances in Control of Articulated and Mobile Robots 259 p. 2004 [3-540-20783-X]
Vol. 20: Xu, Y.; Ou, Y. Control of Single Wheel Robots 188 p. 2005 [3-540-28184-3]
Vol. 9: Yamane, K. Simulating and Generating Motions of Human Figures 176 p. 2004 [3-540-20317-6]
Vol. 19: Lefebvre, T.; Bruyninckx, H.; De Schutter, J. Nonlinear Kalman Filtering for Force-Controlled Robot Tasks 280 p. 2005 [3-540-28023-5]
Vol. 8: Baeten, J.; De Schutter, J. Integrated Visual Servoing and Force Control 198 p. 2004 [3-540-40475-9]
Vol. 18: Barbagli, F.; Prattichizzo, D.; Salisbury, K. (Eds.) Multi-point Interaction with Real and Virtual Objects 281 p. 2005 [3-540-26036-6] Vol. 17: Erdmann, M.; Hsu, D.; Overmars, M.; van der Stapp