Table of contents

  1. Front Matter
  2. Gianluca Antonelli
    Pages 1-13
  3. Gianluca Antonelli
    Pages 15-44
  4. Gianluca Antonelli
    Pages 45-77
  5. Gianluca Antonelli
    Pages 93-104
  6. Gianluca Antonelli
    Pages 105-140
  7. Gianluca Antonelli
    Pages 141-200
  8. Gianluca Antonelli
    Pages 201-223
  9. Gianluca Antonelli
    Pages 225-236
  10. Gianluca Antonelli
    Pages 237-238
  11. Gianluca Antonelli
    Pages 239-245
  12. Back Matter

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 autonom fault detection modeling robot

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin/Heidelberg 2006
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-540-31752-4
  • Online ISBN 978-3-540-31753-1
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site