Abstract
We have proposed an Adaptive Robust Control method for UVMS (Underwater Vehicle-Manipulator System). Through simulations and experiments of an underwater robot with 2 dimensional and vertical planar 2-link manipulator, we have shown that the proposed method has a good control performance in spite of using an inaccurate hydrodynamic model. In this paper, experiments on catching an object the robot with hand are done. The experimental results show the effectiveness of the proposed control method.
