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Über dieses Buch

A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. The mathematical model with significant impact on the control strategy is discussed. 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. The code used to generate most of the numerical simulations is made available and briefly discussed.

Inhaltsverzeichnis

Frontmatter

Chapter 1. Introduction

Abstract
It is during the fifteenth century that the systematic design of underwater vehicles starts engaging the scientists of the era. Figure 1.1 reports a draw by Roberto Valturio, an Italian historian lived from 1405 to 1475.
Gianluca Antonelli

Chapter 2. Modelling of Underwater Robots

Abstract
In this Chapter the mathematical model of UVMSs is derived. Modeling of rigid bodies moving in a fluid or underwater manipulators has been studied in literature by, among others, [23, 26, 27, 33, 38, 39, 45, 56, 59, 60, 69, 70], where a deeper discussion of specific aspects can be found. In [51], the model of two UVMSs holding the same rigid object is derived. A short introduction to underwater vehicles, without manipulators, thus, is given by [7], while deep discussion may be found in [1618]. An compact introduction to modeling of UVMSs can be found in a Chapter of the Handbook of Ocean Engineering [35]. UVMS modeling is also addressed in [40] within the SAUVIM project.
Gianluca Antonelli

Chapter 3. Dynamic Control of 6-DOF AUVs and Fault Detection/Tolerance Strategies

Abstract
Control of UVMSs require full-DOF control of the vehicle, cruise vehicles with rudder and stern are not suitable to hold a manipulator arm for their incapacity to counteract the interaction forces with the arm itself. For this reason the following chapter restricts the discussion to the problem of controlling an underwater vehicle in 6-DOFs.
Gianluca Antonelli

Chapter 4. Control of UVMSs

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.
Gianluca Antonelli

Chapter 5. Simurv 4.1

Abstract
Given the scalar, nonlinear, differential equation it is required to approximate it by a difference equation such that its solution, i.e., x(t), can be numerically evaluated by means of a computer. The theory of digitization is huge and well covered by textbooks of both analysis and control theory,here the sole equations needed to understand how to achieve the simulation of a 6DOFs rigid body, the basis for a vehicle-manipulator system, will be given.
Gianluca Antonelli

Chapter 6. Concluding Remarks

Abstract
This monograph treated control of underwater vehicle manipulator systems, a challenging problem that is addressed by the field actors with an increasing interest. Robotics, in all its domains, is continuously growing reaching new and exciting results, in the underwater environment as well.
Gianluca Antonelli

Backmatter

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