Underwater Robots: Motion and Force Control of Vehicle-manipulator Systems

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Springer, Jan 1, 2003 - Technology - 183 pages
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"This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed as well as a kinematic control for underwater manipulation, dynamic control, and several motion control schemes. Experimental results on motion control and fault tolerance to thrusters faults with the autonomous vehicle ODIN are presented. The interaction with the environment is discussed and a simulation tool for multi-body-systems is presented. This software package, developed to test the presented control strategies, has been designed according to modular requirements that make it possible to generate robotic systems in the desired environment."--BOOK JACKET.Title Summary field provided by Blackwell North America, Inc. All Rights Reserved

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Contents

Interaction Control
135
Conclusions
155
B Mathematical models
165
Copyright

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