File Name: underwater robots motion and force control of vehicle manipulator systems .zip
The field of robotics continues to flourish and develop. In common with general scientific investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at con- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scientific or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the fields of robotics research - rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies.
Springer Professional. Back to the search result list. Table of Contents. Hint Swipe to navigate through the chapters of this book Close hint. Abstract This chapter covers current commercial developments and major research activities for underwater vehicle-manipulator systems.
Manuscript received September 5, ; final manuscript received March 11, ; published online June 12, Editor: Nariman Sepehri. Santhakumar, M. June 12, September ; 5 :
This study addresses the detailed modeling and simulation of the dynamic coupling between an underwater vehicle and manipulator system. The dynamic coupling effects due to damping, restoring, and inertial effects of an underwater manipulator mounted on an autonomous underwater vehicle AUV are analyzed by considering the actuator and sensor characteristics. The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative PID control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties. Due to unstructured properties of interactive work, a good understanding of the dynamics of a robotic manipulator mounted on a moving underwater vehicle is required for autonomous manipulation tasks [ 1 , 2 ]. The increasing in demand for more efficient, precise, and accurate underwater autonomous manipulation has induced many researches in this field, which includes the dynamic model and effective simulation of an underwater manipulator mounted on an underwater vehicle. The first attempt towards modeling of an underwater vehicle-manipulator system UVMS started with the development of a dynamic simulation algorithm using the Newton-Euler formulation scheme [ 3 , 4 ].
Haynes ManualsThe Haynes Author : Gianluca Antonelli Description:This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material not covered in the first edition as well as streamline and improve the previous material. Categories: Technology Electronics: Robotics.
Request PDF | On Jan 1, , GIANLUCA ANTONELLI and others published Underwater Robots: Motion and Force Control of Vehicle Manipulator Systems.
Antonelli, , G. Springer Tracts in Advanced Robotics, Vol 2. November ; 56 6 : B Springer-Verlag, Berlin. ISBN
Skip to Main Content. A not-for-profit organization, IEEE is the world's largest technical professional organization dedicated to advancing technology for the benefit of humanity. Use of this web site signifies your agreement to the terms and conditions. Antonelli; [Book Review] Abstract: This book covers the area of robot control while addressing the additional challenges of a mobile platform the underwater vehicle and considers the difficulties and adversity related to the underwater environment.
Motion and Force Control of Vehicle-Manipulator Systems State of the art in underwater robotics experiments of dynamic control of an underwater vehicle DRM-free; Included format: PDF; ebooks can be used on all reading devices.Christian C. 12.05.2021 at 18:07
Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems (G. Antonelli; ) [Book Review]. November ; IEEE.