Modeling and Task Planning of an Integrated UVMS Platform for Underwater Operation Disposal

This paper develops an Underwater Vehicle-Manipulator System (UVMS) platform capable of executing underwater missions in order to enhance the operational accuracy of autonomous underwater vehicles. First of all, a task-oriented architecture is established through systematic hardware configuration and communication system design, accompanied by functional modularization and spatial layout optimization of the UVMS. Kinematic and dynamic models are derived based on the UVMS platform's unique mechanical configuration. Furthermore, the operational workflow is elaborated through practical case studies of underwater manipulation tasks, with particular emphasis on the end-effector's spline interpolation trajectory planning and tracking during mission execution. The experimental validation demonstrates the platform's effectiveness in achieving precise trajectory control for complex underwater operations.