Hybrid position/force control of a ROV with a manipulator

A new control method to improve the behaviour of a remotely operated vehicle (ROV) platform equipped with a manipulator has been developed. The torque produced by the arm on the platform is estimated with a force sensor installed on the joint between the manipulator and the vehicle. This allows one to correct the position errors of the platform using a force control loop included in the position control loop. This paper describes the principle of the control method, the simulator which has been developed to test it, and the simulation results