Underwater vehicle-manipulator system (UVMS) can be applied to fulfill different complex underwater tasks such as grasping, drilling, sampling, etc. It is widely used in the field of oceanographic research, marine exploration, military, and commercial applications. In this paper, dynamic simulation UVMS presented process grasping an object. First, model UVMS, which considers change load manipul...

1: Deep Submergence Laboratory, Woods Hole Oceanographic Institution, Woods Hole, MA 02543, USA ABSTRACT Control of underwater vehicle/ manipulator systems described by highly nonlinear and coupled dynamics can be improved through careful vehicle and manipulator design, while novel controller structures can improve system performance and simplify the man/machine interface requirements. Understa...

Recently, as humans have become increasingly interested in ocean resources, underwater vehicle-manipulator systems (UVMSs) played an important role exploitation. To realize precise operation narrow spaces, the fly arm vehicle manipulator system (FAUVMS) is proposed with manipulators its core. However, this suffers severe dynamic coupling effects due to combination of small and big manipulators....

This paper presents a cooperative manipulation method for dual-arm underwater vehicle-manipulator system (UVMS). The objective task is handle valve turning, which common task. We propose that includes the concept of grasping fixed structure such as pipeline. While and valve, entire can be considered parallel manipulator. Because kinematic properties system, load turning distributed between vehi...

Hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion and current. This paper presents a non-regressor based adaptive control scheme with a disturbance observer for tracking the trajectory of underwater mobile platform-mounted manipulators. The presented control system does not require any informatio...

An indirect adaptive control for an autonomous underwater vehiclemanipulator system (UVMS) based on an extended Kalman filter (EKF) is presented in this paper. This method overcomes the disadvantages of existing disturbance observers and direct adaptive control schemes, which are designed or analyzed by linear system techniques and regressor-based techniques. The proposed control scheme can be ...

This paper presents a new tracking control scheme for an underwater vehicle-manipulator system (UVMS). The proposed task space passivity based controller is not only used to track the given desired path but also allows the use of the self-motion of the vehicle to perform power efficient trajectory because of its kinematically redundant nature. In the proposed scheme, the primary task is to trac...

Among the underwater robotic systems that are currently available, remotely operated vehicles (ROVs) are the most commonly used underwater robotic systems. A ROV is an underwater vehicle that is controlled from a mother-ship by human operators. Sometimes a ROV is equipped with one or more robotic manipulators to perform underwater tasks. These robotic manipulators are also controlled by human o...

Among the underwater robotic systems that are currently available, remotely operated vehicles (ROVs) are the most commonly used underwater robotic systems. A ROV is an underwater vehicle that is controlled from a mother-ship by human operators. Sometimes a ROV is equipped with one or more robotic manipulators to perform underwater tasks. These robotic manipulators are also controlled by human o...