Recent Developments in Modeling and Control of Underwater Robot Manipulator: A Review

摘要

Objective: The ocean resources and scientific related research is an attractive research topic. To witness a significant development of an intelligent robotic underwater work system, it is necessary to present various technological advancements in this area in form of technical review. Methods/Statistical Analysis: In this direction, authors provide a comprehensive assessment of recent developments of underwater robots and their various control strategies. This review highlights the different control techniques of underwater robots, which have been investigated for overall control of underwater robots. These controls include motion control, trajectory control of end-effect or for the underwater robot manipulators, thrust control and force control. Finding: Various control strategies have been developed and employed by researchers such as adaptive control, PID control, Sliding Mode Control (SMC), robust/optimal control, and robust overwhelming control. The literature survey has further emphasized the use of such controllers for motion, thrust and force control in underwater robotic conditions. Application: This article will be beneficial for researchers in this area to understand various applications of underwater robots. Another focus of this paper is to provide a candid commentary on modeling and simulation techniques adopted by various researchers in the area of underwater robots.Keywords: Modeling, Trajectory Control, Thrust Control, Underwater Dynamics, Underwater Robot