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 given. This software ...
Read More
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 given. This software package, developed to test the presented control strategies, has been designed according to modular requirements which allow the possibility to generate robotic systems in the desired environment. In this second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles. Including various further new material this monograph is a well-balanced blend of theoretical and experimental research.
Read Less
