Dynamics Simulation of Grasping Process of Underwater Vehicle-Manipulator System

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 manipulator when end effector grasps object, developed. To compare conditions, numerical processes without/with vehicle attitude control are carried out. The results show that coupling dynamics between clearly illustrated. deteriorates positioning accuracy harmful precision operations. tracking position error without large cannot complete task under condition. Vehicle compensate motion due effect caused by manipulator. This study will contribute operation mission for with floating base.