Underwater Robots

丛 书 名：Springer Tracts in Advanced Robotics

版本说明：4th ed. 2018

作     者：Gianluca Antonelli 

I S B N：(纸本) 9783319778983 

出 版 社：Springer International Publishing 

出 版 年：2018年

主 题 词：Remote submersibles. Steering-gear 

学科分类：081505[工学-港口、海岸及近海工程] 08[工学] 080202[工学-机械电子工程] 0815[工学-水利工程] 0804[工学-仪器科学与技术] 0824[工学-船舶与海洋工程] 0802[工学-机械工程] 0814[工学-土木工程] 082401[工学-船舶与海洋结构物设计制造] 

摘      要：A classic in underwater robotics. One of the first volumes in the Springer Tracts in Advanced Robotics series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. 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 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.