Dynamics analysis and resolved acceleration control of an autonomous underwater vehicle equipped with a manipulator

This paper is concerned with dynamics analysis and control of a Autonomous Underwater Vehicle (AUV) equipped with a manipulator. First, kinematics and dynamics of a 2-link underwater manipulator mounted on "Twin-Burger", and a Resolved Acceleration Control (RAC) method are described. Next, since the coordinate action between manipulator and AUV is required, the routing algorithm considering the dynamic manipulability of the robot is proposed. Computer simulation using the RAC method and the routing algorithm shows the good control performance.