This paper proposes a new control method applied to an underwater vehicle equipped with a robot manipulator. This control method is based on force control to stabilize the platform when the manipulator works in free or constrained space. The torque produced by the arm on the platform is estimated with a force sensor installed between the base of the manipulator and the vehicle. This allows corr...

This paper proposes a new control method applied to an underwater vehicle equipped with a robot manipulator. This control method is based on force control to stabilise the platform when the manipulator works in free or constrained space. The torque produced by the arm on the platform is estimated with a force sensor installed between the base of the manipulator and the vehicle. This allows corr...

Many aerospace engineers with an expertise in flight control system design, if tasked with designing a guidance system for an underwater vehicle, would dismiss the problem as easily solvable. To aerospace engineers, underwater vehicles are thought to be nothing more than powered blimps, which have been flying since 1852, when Henri Giffard built the first powered airship, a 143-ft long, cigar-s...

In this paper, an eecient dynamic simulation algorithm is developed for an underwater robotic vehicle (URV) with a manipulator. It is based on previous work on eecient O(N) algorithms, where N is the number of links in the manipulator, and has been extended to include the eeects of a mobile base (the URV body). In addition, the various hydrodynamic forces exerted on these systems in underwater ...

A method for the fast approximation of dexterity indices for given underwater vehicle-manipulator systems (UVMS) configurations is presented. Common underwater tasks are associated with two wellknown dexterity indices and two types of neural networks are designed and trained to approximate each one of them. The method avoids the lengthy calculation of the Jacobian, its determinant and the compu...

Increased levels of robotic system autonomy will enable scientific exploration in previously unreachable destinations. Dexterous manipulator systems can be coupled with machine vision systems to increase perceptive capabilities and provide greater opportunities for scientific return through environmental interaction. Reliable autonomous vision systems are often specific to a certain task and qu...

This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based on introducing kinematic constraints....

In this paper, an eficient dynamic simulation algori thm is developed f o r an unmanned underwater vehicle (ULJV) with a robotic manipulator. It is based on an eficient O ( N ) algorithm where N is the number of links in the manipulator, and has been extended to include the full effects of a mobile base and various hydrodynamic forces that are ezerted on these systems in underwater environments...