Robótica Submarina: Conceptos, Elementos, Modelado y Control

Resumen

Los robots submarinos han revolucionado la exploracio¿n del fondo marino. Por otro lado, estos robots han permitido realizar operaciones en aguas profundas sin la necesidad de enviar un veh¿ıculo tripulado por humanos. El futuro de esta tecnolog¿ıa es prometedor. El propo’ito de este documento es servir de primer contacto con este tema y va dirigido a estudiantes de postgrado, ingenieros e investigadores con intere’ en la robo¿tica submarina. Adema’, se reporta el estado actual de los diferentes aspectos que giran alrededor de esta a¿rea de la robo¿tica.

Abstract

Underwater robots have considerably changed the exploration of deep sea. Even more, these robots allow performing opera- tions in remote subsea installations. The future of this techno- logy is promising. The purpose of this work is to provide an insight into the subject to postgraduate students, engineers and researchers interested in underwater robotics. Additionally, this work presents a survey of the different subjects that this branch of robotics include.

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