Abstract: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, the dynamic simulation of UVMS is presented in the process of grasping an object. Firstly, the dynamic model of UVMS, which considers the change of the load of manipulator when the end effector of manipulator grasps the object, is deve… Show more
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