This study addresses the detailed modeling and simulation of the dynamic coupling between an underwater vehicle and manipulator system. The dynamic coupling effects due to damping, restoring, and inertial effects of an underwater manipulator mounted on an autonomous underwater vehicle (AUV) are analyzed by considering the actuator and sensor characteristics. A model reference control (MRC) scheme is proposed for the underwater vehicle-manipulator system (UVMS). The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties. 1. Introduction The underwater manipulator has turned into a critical part/tool of underwater vehicles for performing interactive tasks such as opening and closing of valves, cutting, drilling, sampling, and laying in the fields of scientific research and ocean systems engineering. Due to unstructured properties of interactive work, a good understanding of the dynamics of a robotic manipulator mounted on a moving underwater vehicle is required for autonomous manipulation tasks [1, 2]. The increasing in demand for more efficient, precise, and accurate underwater autonomous manipulation has induced many researches in this field, which includes the dynamic model and effective simulation of an underwater manipulator mounted on an underwater vehicle. The first attempt towards modeling of an underwater vehicle-manipulator system (UVMS) started with the development of a dynamic simulation algorithm using the Newton-Euler formulation scheme [3, 4]. Similarly, using the Kane’s method, a simplified dynamic model of UVMS was developed and verified using numerical simulations [5]. A coordinated control scheme for the UVMS using a discrete-time approximation dynamic model was developed to compensate for the tracking errors of the manipulator during vehicle motion [6]. The UVMS dynamic model was formulated using the quasi-Lagrange method [4, 7]. A nonlinear model-based control scheme that controlled the vehicle and manipulator simultaneously was developed and investigated [8]. In addition to these studies, some of the researches were focused on estimating hydrodynamic parameters of these systems [8], the reduction of the interaction effects (dynamic coupling) between the manipulator and the vehicle [9], and the manipulability and workspace analysis of the underwater manipulator on remotely
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