| Description |
1 online resource (181 p.) |
| Series |
Unmanned system technologies |
|
Unmanned system technologies.
|
| Contents |
Intro -- Preface -- Brief Introduction -- Contents -- 1 Introduction -- 1.1 Underwater Vehicle-Manipulator System -- 1.2 Underwater Biomimetic Vehicle Propelled by Undulating Fins -- 1.2.1 Theoretical Analysis of Undulatory Fin -- 1.2.2 Experimental Observation and Analysis of Undulating Fin -- 1.2.3 Numerical Analysis of Undulating Fin -- 1.3 Autonomous Operation of the Underwater Vehicle-Manipulator System -- 1.4 Trajectory Planning of the Underwater Vehicle-Manipulator System -- References -- 2 Design of the Underwater Biomimetic Vehicle-Manipulator System |
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2.1 Mechanical Design of the UBVMS -- 2.1.1 Mechanical Design of the Bionic Propulsor -- 2.1.2 Mechanism Design of the Underwater Manipulator -- 2.2 Control System Design of the UBVMS -- 2.2.1 Underlying Driving System of Undulatory Fins -- 2.2.2 Underlying Driving Remote Update System -- References -- 3 Kinematics and Dynamics Modeling of the Biomimetic Undulatory Fin -- 3.1 Kinematics Modeling of the Undulatory Fin -- 3.1.1 Kinematics Modeling -- 3.1.2 Effects on the Movement of Undulating Fin -- 3.2 Dynamic Modeling of Undulatory Fins -- 3.2.1 Basal Principle -- 3.2.2 Dynamic Modeling |
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5.2.2 Real-Time Trajectory Planning for Approaching a Moving Target -- 5.2.3 Model Description for Simultaneous Arrival of the Underwater Biomimetic Robot and the Target -- 5.2.4 Real-Time Trajectory Planning Algorithm for Approaching a Moving Target -- 5.2.5 Simulation and Analysis -- References -- 6 Path Tracking Control of the Underwater Biomimetic Robot -- 6.1 Waypoint Tracking Control -- 6.1.1 Problem Statement -- 6.1.2 The Controller Design of Waypoint Tracking -- 6.1.3 Experiments and Analysis -- 6.2 Path Tracking Control -- 6.2.1 Reference Coordinate System -- 6.2.2 Problem Statement |
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6.2.3 The Controller Design -- 6.2.4 Experiment and Analysis -- References -- 7 Autonomous Grasping Control of the Underwater Biomimetic Vehicle-Manipulator System -- 7.1 Hand-Eye Coordination Control of the Underwater Manipulator -- 7.1.1 Autonomous Grasping Control of Manipulator -- 7.1.2 Experiment and Results -- 7.2 Coordination Planning and Control of the Underwater Biomimetic Vehicle-Manipulator System -- 7.2.1 Coordination Planning and Control Based on Task-Priority Algorithm -- 7.2.2 Experiment and Results -- References |
| Summary |
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 |
| Bibliography |
References -- 4 Motion Control of the Underwater Biomimetic Robot -- 4.1 Three-Dimensional Motion Control -- 4.2 Depth Control and Yaw Angle Control -- 4.2.1 System Modeling -- 4.2.2 Depth Control -- 4.2.3 Yaw Angle Control -- References -- 5 Path Planning of Underwater Biomimetic Robot -- 5.1 Real-Time Dynamic Dubins-Helix Trajectory Planning -- 5.1.1 Problem Statement -- 5.1.2 RDDH Trajectory Smoothing -- 5.1.3 Simulation and Analysis -- 5.2 Real-Time Trajectory Planning for Autonomous Approaching a Moving Target -- 5.2.1 Problem Statement |
|
Includes bibliographical references |
| Notes |
Online resource; title from PDF title page (SpringerLink, viewed May 9, 2023) |
| Subject |
Remote submersibles.
|
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Autonomous underwater vehicles.
|
|
remotely operated vehicles.
|
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autonomous underwater vehicles.
|
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Autonomous underwater vehicles
|
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Remote submersibles
|
| Form |
Electronic book
|
| Author |
Wang, Yu
|
|
Tan, Min, 1962-
|
|
Wang, Rui
|
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Dong, Xiang
|
|
Wei, Qingping
|
|
Shang, Liuji
|
| ISBN |
9819906555 |
|
9789819906550 |
|
