000			01586 a2200241 4500
005			20181016121218.0
008			181011b xxu||||| |||| 00| 0 eng d
020			_a9783319778983
040			_cIIT Kanpur
041			_aeng
082			_a629.892 _bAn88u4
100			_aAntonelli, Gianluca
245			_aUnderwater robots _cGianluca Antonelli
250			_a4th ed.
260			_bSpringer _c2018 _aSwitzerland
300			_axxx, 350p
440			_aSpringer tracts in advanced robotics
490			_a/ edited by Bruno Siciliano; v.123
520			_aA 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.
650			_aRobotics
650			_aArtificial intelligence
942			_cBK
999			_c559680 _d559680