# A Method for Supervisory Control of Manipulator of Underwater Vehicle

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## Abstract

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## 1. Introduction

## 2. Specifics of the Method for Supervisory Control of MM

## 3. Building of Motion Trajectories for a MM Working Tool Performing Operations on a Flat Bottom Surface

## 4. Building of Motion Trajectories for a MM Working Tool in Case of Rough Bottom Topography

## 5. Building of Complex Trajectories for MM Working Tools to Move Over the Surface of Underwater Objects

## 6. Software Implementation and Results of the Study of the Method for Supervisory Control of an MM Mounted on a UUV

## 7. Conclusions

## Author Contributions

## Funding

## Institutional Review Board Statement

## Informed Consent Statement

## Data Availability Statement

## Conflicts of Interest

## References

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**Figure 5.**A triangulation model of a seabed surface and the formed motion trajectory of the MM working tool.

**Figure 8.**(

**a**) A model of the UUV, MM, and work object in V-REP; (

**b**) a formed motion trajectory of the MM working tool in V-REP.

Parameters | Values (unit) | |
---|---|---|

UUV | L × H × W | 1.2 × 1.5 × 0.9 (${\mathrm{m}}^{3}$) |

Mass | 117 (kg) | |

Link 1 | Length | 0.05 (m) |

Mass | 0.4 (kg) | |

Link 2 | Length | 0.5 (m) |

Mass | 4 (kg) | |

Link 3 | Length | 0.5 (m) |

Mass | 4 (kg) | |

Link 4 | Length | 0.1 (m) |

Mass | 0.5 (kg) |

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**MDPI and ACS Style**

Konoplin, A.; Filaretov, V.; Yurmanov, A.
A Method for Supervisory Control of Manipulator of Underwater Vehicle. *J. Mar. Sci. Eng.* **2021**, *9*, 740.
https://doi.org/10.3390/jmse9070740

**AMA Style**

Konoplin A, Filaretov V, Yurmanov A.
A Method for Supervisory Control of Manipulator of Underwater Vehicle. *Journal of Marine Science and Engineering*. 2021; 9(7):740.
https://doi.org/10.3390/jmse9070740

**Chicago/Turabian Style**

Konoplin, Alexander, Vladimir Filaretov, and Alexander Yurmanov.
2021. "A Method for Supervisory Control of Manipulator of Underwater Vehicle" *Journal of Marine Science and Engineering* 9, no. 7: 740.
https://doi.org/10.3390/jmse9070740