Force Control Methods of Underwater Vehicle-manipulator Systems (UVMS) PDF Download
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Author: Yong Cui
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 196
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Book Description
Author: Yong Cui
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 196
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Book Description
Author: Gianluca Antonelli
Publisher:
ISBN:
Category : Computers
Languages : en
Pages : 314
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Book 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 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 n.
Author: Shuo Wang
Publisher: Springer Nature
ISBN: 9819906555
Category : Technology & Engineering
Languages : en
Pages : 181
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Book Description
This book is about the design and control of biomimetic underwater robots. It explains the six aspects of the underwater biomimetic vehicle- manipulator system in detail and provides practical examples. This book is the authors’ long-term exploration of the theoretical and technical issues in the development of the underwater biomimetic vehicle-manipulator system and is written based on more than 15 years of scientific research and practical experience. This book is a helpful reference for the researchers, engineers, master and Ph.D. students in the field of biomimetic underwater robots.
Author: Gianluca Antonelli
Publisher: Springer
ISBN: 3319028774
Category : Technology & Engineering
Languages : en
Pages : 294
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Book Description
This book, now at the third edition, addresses 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. 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.
Author: Zhan Li
Publisher: Frontiers Media SA
ISBN: 283252396X
Category : Science
Languages : en
Pages : 207
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Book Description
Author: Cheng Siong Chin
Publisher: MDPI
ISBN: 3039281321
Category : Science
Languages : en
Pages : 242
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Book Description
The biennial Congress of the Italian Society of Oral Pathology and Medicine (SIPMO) is an International meeting dedicated to the growing diagnostic challenges in the oral pathology and medicine field. The III International and XV National edition will be a chance to discuss clinical conditions which are unusual, rare, or difficult to define. Many consolidated national and international research groups will be involved in the debate and discussion through special guest lecturers, academic dissertations, single clinical case presentations, posters, and degree thesis discussions. The SIPMO Congress took place from the 17th to the 19th of October 2019 in Bari (Italy), and the enclosed copy of Proceedings is a non-exhaustive collection of abstracts from the SIPMO 2019 contributions.
Author: Pål Johan From
Publisher: Springer Science & Business Media
ISBN: 1447154630
Category : Technology & Engineering
Languages : en
Pages : 402
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Book Description
Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Author:
Publisher:
ISBN:
Category : Robotics
Languages : en
Pages : 666
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Book Description
Author: Ying Tan
Publisher: Springer Nature
ISBN: 3030539563
Category : Computers
Languages : en
Pages : 689
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Book Description
This book constitutes the proceedings of the 11th International Conference on Advances in Swarm Intelligence, ICSI 2020, held in July 2020 in Belgrade, Serbia. Due to the COVID-19 pandemic the conference was held virtually. The 63 papers included in this volume were carefully reviewed and selected from 127 submissions. The papers are organized in 12 cohesive topical sections as follows: Swarm intelligence and nature-inspired computing; swarm-based computing algorithms for optimization; particle swarm optimization; ant colony optimization; brain storm optimization algorithm; bacterial foraging optimization; genetic algorithm and evolutionary computation; multi-objective optimization; machine learning; data mining; multi-agent system and robotic swarm, and other applications.
Author: Rohit Sharma
Publisher: Springer Nature
ISBN: 9819930332
Category :
Languages : en
Pages : 816
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Book Description
