Overview
- Top of research in submersible/underwater robotics
- Written of leading experts in this fiel
- State of the Art Book
- Includes supplementary material: sn.pub/extras
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 102)
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Table of contents (6 chapters)
Keywords
About this book
“Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics.
This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an
d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.Reviews
“The present book is devoted to autonomous manipulation systems … . Every chapter ends with references and at the end of the book a short index is given. After reading this book the reader will be convinced that the intended audience for it consists of control scientists and control engineers as well as graduate and Ph.D. students in the area of advanced robotics.” (Clementina D. Mladenova, Mathematical Reviews, August, 2015)
Authors and Affiliations
Bibliographic Information
Book Title: Introduction to Autonomous Manipulation
Book Subtitle: Case Study with an Underwater Robot, SAUVIM
Authors: Giacomo Marani, Junku Yuh
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-642-54613-6
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2014
Hardcover ISBN: 978-3-642-54612-9Published: 08 April 2014
Softcover ISBN: 978-3-662-51813-7Published: 03 September 2016
eBook ISBN: 978-3-642-54613-6Published: 26 March 2014
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XVII, 162
Number of Illustrations: 3 b/w illustrations, 73 illustrations in colour
Topics: Control, Robotics, Mechatronics, Artificial Intelligence, Systems Theory, Control