2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
July 7-11, 2015. Busan, Korea
Robust Nonlinear Task Space Position Tracking Control of an
Autonomous Underwater Vehicle-Manipulator System
P. S. Londhe1 , M. Santhakumar2 , B. M. Patre1 and L. M. Waghmare1
Abstract— This paper presents a robust nonlinear control
scheme for task-space trajectory control for an autonomous
underwater vehicle- manipulator system (AUVMS) based on an
improved proportional integral derivative (PID) control scheme
used for deep-sea intervention tasks. A planar underwater
vehicle manipulator system (consists of an underwater vehicle
and two link rotary (2R) serial planar manipulator) with
dynamic coupling between them is considered for the study
and numerical simulation. The actuator and sensor dynamics
of the system are also considered. The proposed controller
integrates the known approximated inverse dynamic model
output as a model-base portion of the controller; uses a feed
forward term to enhance the control activity with indulgence
from known desired acceleration vector; carries an estimated
perturbed term to compensate for the unknown effects namely
external disturbances and un-modelled dynamics and a de-
coupled nonlinear PID controller as a feedback portion to
enhance closed-loop stability and account for the estimation
error of uncertainties. The primary objective of the proposed
control scheme is to track the given end-effector task-space
trajectory despite of external disturbances, system uncertainties
and internal noises associated with the AUVMS system, which
show the robustness of the proposed control scheme. Simulation
results confirmed that the AUVMS can successfully track the
given desired spatial trajectory.
I. INTRODUCTION
In the recent years, underwater robotics vehicles has
gained huge importance on the marine research for the
explorations of the oceans resources and subsea development
for the preservation of global environment. Many underwater
intervention tasks are today performed using autonomous
underwater vehicles (AUVs) and remotely operated vehicles
(ROVs). As remotely operated vehicles are very expensive
and requires two or more skilled operators for their operation,
autonomous underwater vehicles (AUVs) are mostly pre-
ferred for underwater intervention tasks. The key element in
underwater intervention performed with autonomous vehicles
is autonomous manipulation, which is completed through
manipulator systems [1].
Generally, the underwater manipulator with underwater
vehicles are widely used in the fields of scientific research
and ocean systems engineering for performing interactive
tasks such as opening and closing of valves, cutting, drilling,
sampling etc [2]. Autonomous underwater vehicle when
equipped with a manipulator system becomes more difficult
1 Department of Instrumentation Engineering, Shri Guru Gobind Singhji
Institute of Engineering and Technology, Nanded, Maharashtra, In-
dia. pandurangl97@gmail.com, bmpatre@yahoo.com,
lmwaghmare@yahoo.com
2 Discipline of Mechanical Engineering, Indian Institute of Technology,
Indore, Madhya Pradesh, India. santhakumar@iiti.ac.in
978-1-4673-9107-8/15/$31.00 ©2015 IEEE
to control due to nonlinear, coupled, and high-dimensional
nature of the systems. Due to unstructured properties of
interactive work, a good understanding of the dynamics of a
robotic manipulator mounted on a moving underwater vehi-
cle is required for autonomous manipulation tasks. Nonlinear
coupled dynamics between the vehicle and the manipulator
arm poses unique challenges in the undersea environment.
There are many novel/modern controller schemes along with
autonomous manipulator systems have been implemented to
counteract these problems. The AUVMS has kinematically
redundant system when it has more degrees of freedom
(DOF) than is required to perform a task in its space (i.e.
m dimensional). This actuation redundancy due to the extra
DOFs provided by the vehicle and onboard manipulator,
allows the system to achieve increased flexibility for the
execution of sophisticated underwater tasks. Summaries of
recent developments and studies on AUVMS modeling and
control can be found in the literature [3], [4], [5], [6], [7].
Despite of these significant researches, most deep-sea works
conducted in field still depend on operators skill. Therefore,
much demand and developments are needed in autonomous
manipulation, which gives much attention and interest in this
research field.
In this paper, a new robust nonlinear control scheme is pro-
posed which includes known approximated inverse dynamic
model output as a model-base portion of the controller along
with a feed forward term to enhance the control activity with
indulgence from known desired acceleration vector and esti-
mated perturbed term to compensate for the unknown effects
namely external disturbances and un-modeled dynamics. The
proposed scheme enables overcoming the difficulty due to
parameter uncertainties, external variations (e.g., buoyancy,
reaction forces, and payload variations) and disturbances
(e.g., underwater current). For the sake of clarity, it is
restricted that the intention of this study (performance anal-
ysis) to the horizontal plane of the AUVMS motion with a
predefined planar manipulation tasks. The effectiveness of
the proposed control scheme is evaluated with the specified
planar AUVMS tasks.
The paper is organized in the following sequence. Section
II describes dynamic modeling of an AUVMS. Section
III presents a proposed robust nonlinear controller design
scheme. Performance analysis of proposed control scheme
to an AUVMS are presented in Section IV, followed by the
conclusion in section V.
1713
 II. DYNAMIC M ODELING OF AN AUVMS
In this work, dynamic modeling of an AUVMS is derived
using Newton - Euler and recursive Newton - Euler formu-
lation schemes [8], [9], [10]. The frame assignment of the
AUVMS is presented in Fig. 1, where [xt yt zt ] is the end-
effector frame, [xI yI zI ] is the Earth-fixed reference frame
and [xb yb zb ] denotes the body-fixed frame attached to body
of AUV. The dynamic equations of motion of an AUVMS
can be expressed as follows:
M (q)q̈ + C(q, q̇)q̇ + D(q, q̇)q̇ + G(q) + F (q, q̇) = τ + d (1)
where,
H T (ζ)
 
Mv Fig. 1. Coordinate frame arrangement of an AUVMS
M (q) = , (2)
H(ζ) Mm (ζ)

τm = [τm1 τm2 · · · τnm ]T is the vector of manipulator

 
Cv (η, η̇) 0
C(q, q̇) = , (3)
0 Cm (ζ, ζ̇)

Dv (η, η̇) 0
 external disturbances due to underwater current and/or a
D(q, q̇) = , (4)
0 Dm (ζ, ζ̇)
 
Fv (q, q̇)
F (q, q̇) = , (5)
Fm (q, q̇)
   
Gv (η) τ
G(q) = ,τ = v , (6)
Gm (ζ) τm
q = [η ζ] with η = [x y z φ θ ψ] is the vector of
absolute positions and Euler angles (roll, pitch and yaw).
x - surge position, y - sway position, z - heave position,
φ - roll angle, θ - pitch angle and ψ- yaw angle. Mv (q)q̈
is the vector of inertial forces and moments of the vehicle
(including added mass effects). Cv (η, η̇) is the vector of
Coriolis and centripetal effects of the vehicle (including
added mass effects). Dv (η, η̇) is the vector of damping
effects of the vehicle (both linear and quadratic damping
terms). Gv (η) is the vector of restoring forces and moments
acting on the vehicle. τv = [X Y Z K M N ] is
the resultant input vector of thrusters, control plane forces
and moments. ζ = [θ1 θ2 · · · θn ] is the vector of joint
variables while θ1 , θ2 , · · · θn are the joint positions of the
corresponding underwater manipulator links, where n is the
number of joints.
Mm (ζ) is the vector of inertial forces and moments of the
manipulator (including added mass effects). Cm (ζ, ζ̇) is the
vector of Coriolis and centripetal effects of the manipulator
(including added mass effects). Dm (ζ, ζ̇) is the vector of
damping effects of the manipulator (both linear and quadratic
damping terms). Gm (ζ) is the restoring forces and moments
for the manipulator. H T (ζ) and H(ζ) are the vectors of
reaction forces and moments between the vehicle and the
manipulator due to the manipulator and the vehicle inertial
effects, respectively. Fv (q, q̇) and Fm (q, q̇) are the vectors of
the coupling dynamic effects due to the manipulator inclu-
sion and its motion on the vehicle, and the interaction effects
due to the vehicle motion on the manipulator, respectively.
control inputs while τm1 ,τm2 ,· · · , τnm are the joint torques
of the corresponding manipulator links. d is the vector of
paylaod. The AUVMS consists of a n-DOF manipulator
and a 6-DOF vehicle, which means the system has more
degrees of freedom than the dimension of the task space
(kinematically redundant system), required to perform the
given task. The task coordinates are related with the system
states is given as:
µ = f (q) (7)
where µ is the vector of task space coordinates and f (q) is
the vector representing the forward kinematics. Differentiat-
ing (7) with respect to time gives:
µ̇ = J(q)q̇ (8)
where, J(q) is the Jacobian matrix, mapping system (joint
and body-fixed) velocities to task space velocities.
The dynamic equations of motion of the AUVMS in the
task space can be expressed as follows:
Mµ µ̈ + Cµ µ̇ + Dµ µ̇ + Gµ + Fµ = τct + τdis (9)
where, Mµ is the inertia matrix, Cµ is the Coriolis and
centripetal matrix, Dµ is the damping matrix, Gµ is the
vector of restoring effects and Fµ is the vector of dynamic
coupling of the AUVMS in task space, respectively. τct is
the vector of task space control inputs of the AUVMS. τdis
is the vector of disturbances in the task space.
III. A ROBUST NONLINEAR CONTROL SCHEME
In this paper, a robust nonlinear controller along with un-
certainty/disturbance estimator is proposed to track a desired
reference position trajectory of the underwater manipulator
system. The proposed control vector along with estimated
uncertainty/disturbance vector is given as follows:
τct = M̂µ (µ)(µ̈r + Kc χP ID ) − τ̂dis + N̂µ (µ, µ̇) (10)
where,
N̂µ (µ, µ̇) = Ĉµ (µ, µ̇)µ̇ + D̂µ (µ, µ̇)µ̇ + Ĝµ (µ) + F̂µ (µ, µ̇)

1714
 µ̈r = µ̈d + 2Γµ̃˙ + Γ2Zµ̃;
χP ID = µ̃˙ + 2Γµ̃ + Γ2 µ̃dt (11)
τ̂dis = η + Ko M̂ (µ)µ̇; µ̃˙ = µ̇d − µ̇; µ̃ = µd − µ;
η̇ = −Ko (τct − N̂µ (µ, µ̇)) + χP ID
Kc and Ko are the controller and estimator gain matrices
of the proposed controller, respectively and chosen as sym-
metric positive definite matrices. µ̈r is the virtual reference
(desired) acceleration vector. µd , µ̇d and µ̈d are the given
desired space task position, velocity and acceleration vectors,
respectively. Γ is a positive diagonal matrix. χP ID is the
centralized PID control input vector. τ̂dis is the estimated
vector of disturbances/uncertainties. η is an auxiliary vector
to estimate the unknown disturbance vector. M̂µ (µ) and
N̂µ (µ, µ̇) are the known values (approximated model param-
eter values) of inertia matrix, Coriolis and centripetal matrix,
damping matrix and restoring effects of the manipulator,
respectively.
The block diagram that corresponds to the proposed
controller is shown in Fig. 2. The proposed controller
consists of four integral components namely PID controller
(χP ID ), feed forward controller (µ̈r ), model based (feedback
linearization) controller and uncertainty estimator (η). The
block diagram flow starts from the desired task variables
block where user inputs are given based on the manipulator
tasks (missions) and these inputs which are in terms of task
space variables by default and time namely µd and t. The
trajectory planner provides the desired task space coordinates
namely time trajectories of the task space position, velocity
and acceleration vectors respectively, based on the above user
inputs. These task space values are used to calculate the joint
space coordinate values through the help of inverse kinematic
relations.
The proposed AUVMS has measurement systems which
will give task space positions and task space velocities of
the manipulator, through the help of task position sensors
(i.e., potentiometers) and motor encoders, respectively. The
sensor dynamics are incorporated inside the underwater
manipulator block itself. Therefore, the state(s) comparator
block can calculate the tracking errors based on desired
and actual states. The outputs of the state comparator are
task position error, velocity error and integral position error.
These errors are fed into the PID controller block which
enhances the closed-loop stability of the system and improve
transient performance of the proposed controller. Similarly,
the feed forward controller gives the desired input values
theoretically based on the desired acceleration and inertia
matrix, however in the actual case these desired input values
may vary considerably due to system dynamics. Therefore,
the virtual reference acceleration vector and the theoretical
input values are calculated based on the revised controller
scheme in the feed forward controller block. The model
based controller uses, inverse dynamic model output which is
known with some inaccuracy provides the approximated task
torques/forces of the manipulator as a model-based control
term which is equivalent to the feedback linearization scheme
1715
and this controller will make the system approximately lin-
ear decoupled thus making the system straight-forward and
simple. The uncertainty estimator has an efficient estimation
approach to estimate the perturbation from the dynamics
of the PID controller and known inverse dynamic model
and compensate the model uncertainties, unknown external
disturbances, and time-varying parameters (this estimator
restricted with the bounded and slowly varying disturbances).
In this work, one of the tasks is to estimate the bounded
(slowly varying) disturbance/uncertainty vector and the es-
timator at least exponentially converges to the actual dis-
turbance/uncertainty vector under any position trajectory.
Because of this estimator, the proposed controller can be
called as an adaptive controller as well.
The overall controller input vector is fed into the manip-
ulator actuators and based on their (actuators) dynamics and
the system dynamics, the system provides the response in
terms of joint position and velocity vectors. The actual task
space values can be obtained based on these joint space
variables through the help of forward kinematic relations.
The disturbance block that has been depicted in the block
diagram, apart from containing various external disturbances
also includes internal forces like the manipulator joint fric-
tional effects. During the simulation runs, both coulomb and
viscous friction forces have been added to closely portray
the actual system and also to demonstrate the effectiveness
and the robustness of the controller. The friction values are
chosen to shadow the actual frictional effects as closely as
possible.
The following assumptions and properties are considered
to ensure the asymptotic convergence of disturbance and tra-
jectory tracking response in the overall closed-loop system:
Assumption 1: The controller and estimator gain matrices
namely Kc , Ko and Γ are constant symmetric and positive
definite (SPD) matrices, by design, that is:
Kc = KcT > 0, Ko > 0 and Γ = ΓT > 0 (12)
Assumption 2: The rate of change of the disturbances
acting on the AUVMS is negligible in comparison with the
estimated error dynamics, i.e., the disturbances are slowly
varying (τ̇dis ≈ 0), and this assumption is not overly re-
strictive and is commonly made in the robot manipulator lit-
erature [11]. Therefore, assuming slow-varying disturbances
(bounded) with respect to the estimators dynamics, the error
dynamics of the uncertainty estimator can be denoted as
follows:
τ̃˙dis = τ̇dis − τ̂˙dis = −Ko τ̃dis + χP ID , ∵ τ̇dis ≈ 0 (13)
where, τ̃dis = τdis − τ̂dis is the vector of the uncertainty
estimator errors. The following properties are observed for
the underwater robotic manipulator with respect to inertial
(fixed-ground base) frame, as given below:
Property 1: The inertia matrix of the AUVMS with respect
to inertial frame is always positive definite [9], [12], that is:
Mµ (µ) > 0, ∀µ  <n (14)
 Trajectory Desired Since, the controller and uncertainty estimator gain matrices
⋅μ⋅d , ⋅μd, μd User inputs
planner task variables
μd,t
are constant symmetric and positive definite matrices, by
Disturbances
Robust non-linear control scheme design in can observed from (17) and (21) that the Lyapunovs
Feed-forward
candidate function is positive definite and its time derivative
Model based
control control Nonlinear is negative definite in the entire state space. i.e., when
dynamical
+ + T
J
Actuator
model
χP ID = 0, τ̃dis = 0 then,
dynamics
of an
PID control
Uncertainty AUV-MS V > 0, ∀χP ID 6= 0, ∀ τ̃dis 6= 0; V = 0, (22)
estimator

therefore also,
⋅
μ, μ q, q⋅
Forward
kinematics
Sensor
dynamics
V̇ < 0, ∀χP ID 6= 0, ∀ τ̃dis 6= 0; V̇ = 0, (23)
Therefore, based on Lyapunovs direct method and Barbalats
Fig. 2. The proposed robust nonlinear controller block diagram
Lemma [13], [14], the closed-loop system is globally asymp-
totically stable. i.e., the system task space position and ve-
Property 2: For the underwater robotic manipulator, the locity tracking errors, and disturbance/uncertainty estimating
following property exists with respect to inertial reference tracking errors are converging to zero asymptotically [13],
(base) frame [9], [12]. [14]. i.e.,

ξ T (Ṁµ (µ) − 2Cµ (µ, µ̇))ξ = 0, ∀ ξ <n , µ <n , µ̇  <n (15) lim χP ID (t) = 0, lim τ̃dis (t) = 0,
t→∞ t→∞

i.e. Ṁµ (µ) − 2C(µ, µ̇) is a skew-symmetric matrix. lim µ̃(t) = ˙

0, lim µ̃(t) =0 (24)
t→∞ t→∞
A. Stability Analysis Therefore the manipulator follows the given desired task
Lemma 1: The closed-loop system is globally asymptot- space trajectory with minimal errors.
ically stable if and only if the following conditions are IV. PERFORMANCE ANALYSIS
satisfied:
A. Description of the system
V > 0 and V̇ < 0, ∀ χP ID 6= 0, ∀ τ̃dis 6= 0; (16) The performance of the system is gauged by performing
V = 0 and V̇ = 0, only if χP ID = 0, τ̃dis = 0. extensive numerical simulations involving positioning and
Proof: Consider the system of which the governing trajectory tracking of the end effector. For ease of under-
equations are given by Eq. (9) and let us define a positive standing and clarity the AUVMS horizontal plane motion
definite Lyapunovs candidate function as: is considered. In that, 2-degrees of freedom manipulator
1 1 T system (MS) equipped with 3-DOF horizontal plane AUV
V = χTP ID χP ID + τ̃dis τ̃dis (17) model is considered for the numerical simulation purpose.
2 2
Choosing a control input of the form as given in Eq. (10) With this considerations, vector q in (1) is taken here as
along with an uncertainty estimator function as given in Eq. q = [η ζ] = [x y ψ θ1 θ2 ] with η = [x y ψ] and
(12) will lead to the asymptotic convergence to zero of the ζ = [θ1 θ2 ]. µ = [xt yt ] is the task-space position vector
underwater manipulator tracking task space position, velocity considered for the proposed system. The AUVMS considered
and uncertainty in the error estimations i.e., the underwater for the analysis consists of a planar serial manipulator which
manipulator will follow the given desired trajectory. has two active rotary joints. The shape of the vehicle is
Differentiating with respect to time along its state trajec- rectangular prism and it has four thrusters which help in
tories results in: maneuver all motions of the vehicle. The shape of the
manipulator links have been assumed to be cylindrical though
T ˙
V̇ = χTP ID χ̇P ID + τ̃dis τ̃dis (18) the performance of the control scheme is least affected by
where, χ̇P ID is the time derivative of the PID control input it as it would accommodate these variations with ease. The
vector and it can be denoted as follows: inertial parameters of the vehicle and the manipulator links
have been found from the solid model of the system and
¨ + 2Γµ̃˙ + Γ2 µ̃
χ̇P ID = µ̃ (19) hence emulate the actual parameters. The hydrodynamic
parameters are obtained by using empirical relations [8]. The
The AUVMS equations of motion as given in the form of
vehicle is 0.8 m long and 0.25 m width. The vehicle mass
Eq. (9) can be rewritten as follows:
is 125 kg. The manipulator link masses (i.e., Link 1 and
µ̈ = Mµ (µ)−1 (τct + τdis − Nµ (µ, µ̇)) (20) Link 2) are 5 kg and 3 kg, respectively. Similarly, the their
lengths are 0.3 m and 0.2 m, respectively. The schematic
Substituting the time derivative of the PID control input
diagram of the AUVMS considered for the numerical study is
vector from (19), the AUVMS equations of motion from (20),
depicted in Fig. 3, where, O(0, 0), B(x, y) and E(xt , yt ) are
the proposed control vector from (10) and other controller
the inertial, body-fixed and end-effector frames respectively.
input relations from (12), in (20) and simplifying, it becomes:
T1 , T2 , T3 and T4 are the vehicle thrusters and M1 , M2 are
V̇ = −χTP ID Kc χP ID − τ̃dis
T
Ko τ̃dis (21) the manipulator joint motors.

1716
 5 0.2

u,[m/s]
x,[m]
0 0
−5 −0.2
0 20 40 60 0 20 40 60
t,[s] t,[s]
5 0.4

v,[m/s]
y,[m]
0 0.2
−5 0
0 20 40 60 0 20 40 60
t,[s] t,[s]
5 0.1

ψ,[rad]

r,[rad/s]
0 0
−5 −0.1
0 20 40 60 0 20 40 60
t,[s] t,[s]
Fig. 3. The schematic diagram of the planar AUVMS

Fig. 4. Time trajectories of AUVMS motion in horizontal plane during

B. Description of the task underwater manipulator task position control
The gain matrices and other controller parameter values
have been tuned in such a way that the controller show
1 0.5

θ1 dot,[rad/s]
satisfactory performance in ideal conditions. The underwater

θ1,[rad]
effects that are bound to act on the AUVMS such as
0.5
the underwater currents, damping effects, etc. have been
included in the disturbance vector which has been exclusively
appended to the dynamics of the system to simulate the 0 0
0 50 0 50
underwater conditions that the AUVMS will be subjected t,[s] t,[s]
to while performing any of the positioning or tracking 0 0

θ2 dot,[rad/s]
operations. The task space vector consists of end effector
θ2,[rad]

positions i.e.,[xend yend ]. The test case chosen here demands −1 −0.5
the AUVMS to start from a user-defined initial position
and return to the same position after traversing a predefined −2 −1
trajectory. The initial velocity vector of the links were set to 0 50 0 50
be zero and random values were assigned to the estimated t,[s] t,[s]
system disturbance vectors, but the intended and actual
orientation of the end-effector are assumed to be almost Fig. 5. Time trajectories of the joint space positions during task-space
equal. trajectory control(uncertain condition)

C. Results and Discussions

The results of the circular position tracking task of the
planar AUVMS is presented and it can be used as a reference
to the performance analysis of the proposed control scheme.
Considerations done while performing these simulations are
quite elaborate and they emulate the actual manipulator to
a satisfactory extent. Considerations such as disturbances,
parameter uncertainties and sensor noises have all been
incorporated in the numerical model ensuring the usage
of the proposed controller in an actual prototype without
compromising either performance or effectiveness.
For the uncertain condition, the underwater current is
considered with a velocity vector of (0.2, 0.1) m/s in x and y
axes. The unknown disturbances are considered as a vector
(for the simulations [10N, 5N, 0.5N m, 0.2N m, 0.1N m]T )
and the system uncertainties are considered as 20% (i.e.,
the system model consists of only 80% of actual values).
All the results which have been obtained are depicted in
Figs. 4 to 8, which illustrate the tracking performance of
the controller while tracking a trajectory in task space.
The tracking performance of the proposed scheme is quite
acceptable and adequate for underwater applications.
Fig. 4 shows the variations in the AUV motion in hor-
izontal plane i.e. position along X- and Y-axis and their
corresponding angular velocities, yaw angle, (ψ) and yaw
angle rate, r during task-space trajectory tracking control.
Portray the task space positions with respect to time are
depicted in Fig. 5. The time histories of the norm of the
vector of the task space position tracking errors and control
inputs are presented in Fig. 3(a) and 3(b) respectively. During
circular task-space trajectory tracking control, variations in
the task-space positions and their corresponding errors can
be shown in the Fig. 7. It can conclude that, proposed
control scheme converges the task-space position errors to
zero within 10 seconds.
For better understanding of the task space control scheme,
the AUV motion, manipulator base frame motion along with
end effector motion of an AUVMS is presented in Fig. 8. It
shows the clear view of proposed system under task-space

1717
 position tracking control.
(a)
200
Consequently, it is apparent from the above discussion that
|τ|,[units]

the proposed controller can perform efficiently and also able

100 to recover from disturbances, both internal and external while
0 tracing a pre-defined path.
0 10 20 30 40 50 60
t,[s] V. CONCLUSIONS
(b)
0.2 A robust nonlinear control scheme incorporated in the task
|µe|,[units]

space of a AUVMS is presented here to be dispensed for un-

0.1 derwater manipulation task applications. The efficacy of the
0 controller is demonstrated with the assistance of numerical
0 10 20 30 40 50 60 simulations on a planar type of AUVMS in the horizontal
t,[s]
plane motion. From the results, it can be concluded that the
Fig. 6. Time trajectories of the norm of the vector of (a) control inputs
control scheme performs with superior efficiency in the pres-
(b) task space tracking errors (an uncertain working condition) ence of external disturbances and uncertainties in the system.
The results show the error reduction, adaptive response and
asymptotically convergence of the system states by the robust
nonlinear controller. This guarantees the performance of the
6 0.1 control scheme for usage in position and trajectory tracking
applications which is the sole motive behind developing this
xt,[m]

4
x ,[m]

0
underwater robotic system.
et

2
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Fig. 8. Motion trajectories of the AUVMS, the manipulator base frame

and end effector (task space frame) positions in the x-y plane

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