Underwater Robots

Motion and Force Control of Vehicle-Manipulator Systems

  • Gianluca Antonelli

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 2)

Table of contents

  1. Front Matter
    Pages I-XXV
  2. Gianluca Antonelli
    Pages 1-22
  3. Gianluca Antonelli
    Pages 23-53
  4. Gianluca Antonelli
    Pages 55-134
  5. Gianluca Antonelli
    Pages 135-154
  6. Gianluca Antonelli
    Pages 155-157
  7. Gianluca Antonelli
    Pages 165-170
  8. Back Matter
    Pages 171-186

About this book


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 problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided; experimental results obtained with the vehicle ODIN are presented. 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.


Force Control Motion control Underwater Robotics control control system modeling motion control motion planning robot robotics robotics research simulation system underwater robot

Authors and affiliations

  • Gianluca Antonelli
    • 1
  1. 1.Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica IndustrialeUniversità degli Studi di CassinoCassino (FR)Italy

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2003
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-662-14389-6
  • Online ISBN 978-3-662-14387-2
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site
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