Abstract
Underwater robotics represents one of the most promising application areas of vehicle-manipulator systems. Due to the extremely hostile environment found under water and the dangers exposed to human divers, the underwater environment is believed to benefit greatly from this technology. In fact, there are already several underwater robotic systems available that are both able to locomote freely under water and carry a manipulator arm for interaction with objects under water.
As of today most underwater robots are used in the oil and gas industry to monitor and operate underwater fields. This is an area that will benefit greatly from robotic solutions as an increasingly high number of fields are being developed on the seabed. Other underwater applications include surveillance and exploration of the seabed, exploration of ship wrecks and coral reefs, and search missions in case of airplane or ship accidents.
This chapter discusses the modeling and control of underwater vehicle-manipulator systems and shows how the free-floating base and submerged bodies affect the dynamic equations. Properties such as added mass and buoyancy forces and moments are included in the dynamics. We also look at other considerations that need to be made when mechanical and electrical systems are submerged in water.
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From, P.J., Gravdahl, J.T., Pettersen, K.Y. (2014). Underwater Robotic Systems. In: Vehicle-Manipulator Systems. Advances in Industrial Control. Springer, London. https://doi.org/10.1007/978-1-4471-5463-1_10
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DOI: https://doi.org/10.1007/978-1-4471-5463-1_10
Publisher Name: Springer, London
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