Advertisement

Interaction Control

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

Abstract

In view of the development of an underwater vehicle able to perform a completely autonomous mission the capability of the vehicle to interact with the environment by the use of a manipulator is of greatest interest. To this aim, control of the force exchanged with the environment must be properly investigated.

Keywords

Contact Force Force Control Secondary Task Inverse Kinematic Task Space 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

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

Personalised recommendations