5.1 NONLINEAR ROV SUBSYSTEM MODEL
Remotely operated vehicles (ROVs) have become an important tool in diverless subsea operations. This is mainly because of the increased operating range and depth. In addition, operation endurance and less risk to human life are also important factors. Especially in the offshore industry, ROVs have become indispensable. Most oil companies are using such vehicles for various underwater problems in all parts of the oil/gas production line such as: deep water drill rig support, pipeline survey (see Figure 5.1), shallow water rig support, and deep water platform inspection, maintenance and repair (IMR).
Many of the tasks require that the ROVs are equipped with manipulator ...
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