In this chapter, a real-time, graphical simulation system, called DynaMechs, for underwater robotic vehicle (URV) systems is presented. An eecient dynamic simulation algorithm is developed based on an eecient O(N) robot dynamics algorithm where N is the number of links in the system. It has been extended to include the eeects of various hydrodynamic forces that are exerted on these systems in u...

Underwater robots, especially Underwater Vehicle-Manipulator Systems (UVMS), are expected to have important roles in ocean exploration (Yuh, 1995). Many studies about dynamics and control of UVMS have been reported (Maheshi et al., 1991; McMillan et al., 1995; McLain et al., 1996; Tarn et al., 1996; Antonelli & Chiaverini, 1998; McLain et al., 1998; Antonelli et al., 2000; Sarkar & Podder, 2001...

In this work, the design of an adaptive control algorithm for a general class of underwater vehicles with manipulator in the context of a path-following problem is presented. The algorithm is based on speed-gradient techniques and state/disturbance observer. A stepwise changing mass is assumed during the operations of the vehicle manipulator. The influence of the unknown mass on the control per...

With the recent technological advancement in submersible systems, the research and development of underwater manipulator robot is highly desirable. This paper focuses on comparing simulation versus real-time manipulator dynamics control, and comparison of intelligent underwater manipulator-robot for effective Ocean-based research, industrial and defense applications. Software package such as MA...

Underwater exploration requires mobility and manipulation. Underwater robotic vehicles(UR y) have been employed for mobility, and robot manipulators attached to the underwater vehicle(i.e., rover) play the role of manipulation. Usually, manipulation mode happens when the rover is stationary. URV is then modeled as a passive joint and the joints of the manipulator are modeled as active joints. U...