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Introduction Kapitel lesen Erstes Kapitel lesen

2018 | OriginalPaper | Buchkapitel

4. Control of UVMSs

verfasst von : Gianluca Antonelli

Erschienen in: Underwater Robots

Verlag: Springer International Publishing

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Abstract

A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. A generic manipulation task is usually given in terms of trajectories for the end effector, specially position and orientation. In this sense, an Underwater Vehicle-Manipulator System is always kinematically redundant due to the DOFs provided by the vehicle itself. However, it is not always efficient to use vehicle thrusters to move the manipulator end effector because of the difficulty of controlling the vehicle in hovering. Moreover, due to the different inertia between vehicle and manipulator, movement of the latter is energetically more efficient.

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Vorheriges Kapitel Dynamic Control of 6-DOF AUVs and Fault Detection/Tolerance Strategies
Nächstes Kapitel Simurv 4.1
Fußnoten
1
This Section is a repetition of Sect. 3.​2 with updated equation numbering. This choice has been made in order to easy comprehension of the text in case individual Chapters are available to the reader.
 
2
The paragraphs until the end of the Section is a repetition of the last paragraph in Sect. 2.​16. This choice has been made in order to easy comprehension of the text in case individual Chapters are available to the reader.
 
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Metadaten
Titel
Control of UVMSs
verfasst von
Gianluca Antonelli
Copyright-Jahr
2018
Buch
Underwater Robots

Print ISBN: 978-3-319-77898-3

Electronic ISBN: 978-3-319-77899-0

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-77899-0_4

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