Automatic stabilization system of underwater manipulation robot

This paper describes the problem of underwater vehicle (UV) stabilization in space while the manipulator is operating. When carrying out underwater technical works by means of an UV having a manipulator it is desirable to perform manipulation operations in the regime of the UV hovering above the complicated fixation. UV stabilization is achieved by compensation all the effects caused by the operating manipulator on the UV in water environment. This automatical stabilization is formed due to input or the required control signals into UV corresponding propellers. These propellers counteract the effects on the motionless vehicle