Underwater Robots

A classic in underwater robotics. 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.

Aceasta carte examineaza principalele aspecte de control in controlul robotizat dinamic al vehiculelor subacvatice. Prezinta un model matematic cu impact semnificativ asupra strategiei de control.