Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System

<table>Task space <svg height="16.625" id="M224" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 39.700001 16.625" width="39.700001" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> trajectories (results from the circular trajectory).</table>

Modelling and Simulation in Engineering

fig15

Figure 15

Figure 15: Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System 