Underwater Robots: Motion and Force Control of Vehicle-Manipulator SystemsThe field of robotics continues to flourish and develop. In common with general scientific investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at con ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scientific or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the fields of robotics research - rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The monograph written by Gianluca Antonelli is focused on an impor tant class of robotic systems, namely underwater vehicle-manipulator sys tems. These offer a challenging field for investigation of motion planning and control problems of robots operating in unstructured environments. In such a scenario, the importance of providing the control system with both mo tion and force control capabilities becomes crucial for successful execution of complex tasks and missions. |
Contents
Interaction Control | 135 |
Conclusions | 155 |
B Mathematical models | 165 |
Copyright | |
1 other sections not shown
Other editions - View all
Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems Gianluca Antonelli No preview available - 2010 |
Common terms and phrases
adaptive control adaptive control law added mass approach body-fixed frame computed configuration considered control action control law 3.33 corresponding defined dynamic compensation dynamic control dynamic parameters earth-fixed frame effector end-effector end-effector position environment Euler angles expressed fault fluid force control scheme force/moment fuzzy given hydrodynamic hydrodynamic effects implemented inertial frame integral action inverse kinematics Jacobian matrix joint limits joint torques kinematic control kinematic singularities law for AUVS linear manipulator joint motion control Nms2 novel adaptive control null obtained ocean current ODIN orientation error position and orientation position error position/orientation positive definite primary task proposed control law pseudoinverse quaternion redundancy resolution regressor rigid body robotic rotation matrix secondary task sensor Sliding Mode Control structure terms of Euler thrusters tracking errors underwater vehicle UVMS variables vector vehicle attitude vehicle control vehicle orientation vehicle position vehicle-fixed frame Virtual decomposition