Modeling and Simulation of Underwater Flexible Robot

Focusing on the challenges of underwater exploration, the book discusses the potential of underwater robots to perform tasks like debris removal and pipeline inspection without the limitations of human divers. It addresses the critical issue of trajectory control for these robots, which is complicated by dynamic coupling and buoyancy forces. The work presents a dynamic modeling approach using bond graph techniques, detailing the integration of a controller for improved performance in underwater environments. This research aims to enhance the functionality and reliability of underwater robotic systems.