This paper describes the state-of-the art in the area of underwater robot manipulator
systems. A brief introduction is given on the use of manipulators in various offshore …

In this Chapter the mathematical model of UVMSs is derived. Modeling of rigid bodies
moving in a fluid or underwater manipulators has been studied in literature by, among …

Underwater vehicle-manipulator systems (UVMS) can fulfill underwater sampling, grabbing,
operation and other tasks in addition to observation. It is widely used in marine scientific …

Robotic systems that can explore the sea floor, collect marine samples, gather shallow water
refuse, and perform other underwater tasks are interesting and important in several fields …

Autonomous underwater vehicles are frequently used for survey missions and monitoring
tasks, however, manipulation and intervention tasks are still largely performed with a human …

水下机器人-机械手系统(Underwater vehicle-manipulator systems, UVMS)
可以完成除观测之外的水下采样, 抓取, 操作等任务, 在海洋科学考察, 海洋工程等领域得到广泛 …

Underwater manipulation is one of the most remarkable ongoing research subjects in
robotics. Intervention autonomous underwater vehicles (I-AUVs) not only have to cope with …

This paper presents a unifying task priority control architecture for underwater vehicle
manipulator systems. The proposed control framework can be applied to different operative …

This paper considers the kinematic control approach for controlling an underwater vehicle-
manipulator system. Three different kinematic control schemes have been applied, and the …

An underwater manipulator is a complex system, highly non-linear and subject to
disturbances caused by underwater effects. To obtain a reliable system, robust control …